Research on Motion Control of AUV with Hybrid Actuators

摘要：

　　A switch function is presented to smooth control instructions and avoid system vibration during switch operating underwater vehicles with hybrid actuators.And a Modified S-plane Controller (MSC) is proposed by analyzing underwater vehicles dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account.Besides the advantages of S controller such as simple structure,MSC can solve the motion control of underwater vehicle at high speed which is difficult to control with S-plane controller.The stability of MSC is analyzed with Lyapunov function.Finally,MSC is applied to the motion control of an autonomous underwater vehicle controlled by rudders and thrusters.The feasibility of MSC is demonstrated by the results of velocity control,yaw control and depth control tests.

关键词： autonomous underwater vehicle hybrid actuators motion control stability

作者: Zhang Lei Jiang Da-peng Huang Shu-ling Zhao Jin-xin

作者单位: College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China

会议类型: 国际会议

会议名称: 2013 2nd International Conference on Systems Engineering and Modeling(ICSEM-13)(2013年第二届系统工程与建模国际会议)

会议地点: 北京

会议语种:英文

页码: 269-275

在线出版日期: 2013-04-19（万方平台首次上网日期，不代表论文的发表时间）