Nonlinear Path Following Control of Autonomous Underwater Vehicles:Under-actuated and Fully-actuated Cases
This paper addresses the problem of nonlinear path following control of fully-actuated and under-actuated autonomous underwater vehicles.The similarity and difference of control designs on these two kinds of vehicles are analyzed,Where the sideslip angle is critical in dynamics evolving for both under-actuated and fully-actuated AUVs,which makes the difference in path following control design.As a result,the nonlinear controller for each type of AUV is proposed,and the inherent characteristics of under actuation and full actuation are revealed through numerical simulations.
AUV Path following Full actuation Under actuation
Xianbo Xiang Jinrong Zheng Caoyang Yu Guohua Xu
Department of Marine Engineering,School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8006-8010
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）