Control of Fully Actuated UUV Using a Linear Interpolation Approach

摘要：

　　This work addresses the problem of tracking a desired trajectory for fully actuated unmanned underwater vehicles (UUVs).A trajectory tracking controller designed originally for mobile robotic systems is applied for the control of fully actuated UUV by a linear interpolation based methodology.Particularly,a typical nonlinear multivariable system—an UUV—is represented and analyzed directly without a coordinate transformation.The methodology is conceptually simple and the calculation of the control actions for an optimal operation of the system is easy to implement by solving a system of linear equations.The proofs of convergence to zero of the tracking errors are achieved here and simulations for a constant velocity trajectory,i.e.a circle,and a time-varying velocity one,i.e.a sinusoidal path,are presented.Simulation results demonstrate the effectiveness of the methodology and the good performance of the proposed controller.

关键词： Unmanned underwater vehicle trajectory tracking linear interpolation nonlinear multivariable system

作者: XU Jian WANG Man QIAO Lei

作者单位: Department of Automation,Harbin Engineering University,Harbin 150001,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 2058-2063

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）