Czasopismo
2009
|
Vol. 19, no. 4
|
437-450
Tytuł artykułu
Autorzy
Wybrane pełne teksty z tego czasopisma
Warianty tytułu
Języki publikacji
Abstrakty
This paper describes a tracking control strategy for an underactuated autonomous underwater vehicle (AUV) on a two dimensional plane (ℜ²). Based on a smooth, inertial, 2D reference trajectory curve, the proposed algorithm uses vehicle dynamics to generate the reference orientation and body-fixed velocities. Following these, required error dynamics are developed. Error dynamics are then stabilized using inverse dynamics control strategy, forcing the tracking error to an arbitrarily small neighborhood of zero. Circular path, as a constant velocity reference trajectory, has been chosen for simulation studies. Simulation results are included to demonstrate the tracking performance of the controller.
Słowa kluczowe
Czasopismo
Rocznik
Tom
Strony
437-450
Opis fizyczny
Bibliogr. 12 poz., rys.
Twórcy
Bibliografia
- [1] T. I. FOSSEN: Guidance and control of ocean vehicles. Wiley, New York 1994.
- [2] J. Yuh: Design and control of autonomous underwater robots: a survey. Int. J. of Control, 8(1), (2000), 7-24.
- [3] H. K. Khalil: Nonlinear Systems, second ed. Prentice-Hall, Upper Saddle River, 1996.
- [4] A. P. AGUIAR and A. M. PASCOAL: Dynamie positioning and way-point tracking of underactuated AUVs in the presence of ocean currents. Proce, ofthe 4lst IEEE Conf. on Decision and Control, Las Vegas, USA, (2002), 2105-2110.
- [5] W. DONG and J.A. Farrell: Formation control of multiple underactuated surface vessels. IET Control Theory Appi, 2(12), (2008), 1077-1085.
- [6] M. REYHANOGLOU: Exponential stabilization of an underactuated autonomous surface vessel. Automatica, 33(12), (1997), 2249-2254.
- [7] K. Y. PETTERSEN and O. EGELAND: Time-varyingexponentialstabilizationof the position and attitude of an underactuated autonomous underwater vehicle. IEEE Trans, on Automatic Control, 44( 1), (1999), 112-115.
- [8] K. Y. PETTERSEN and T. I. FOSSEN: Underactuated dynamie positioning of a ship-experimantal results. IEEE Trans, on Control Systems Technology, 8(5), (2000), 856-863.
- [9] K. Y. WlCHLUND, O. SORDALEN and O. EGELAND: Control properties of underactuated vehicles. Proc. ofthe IEEE Int. Conf. on Robotics and Automation, (1995), 2009-2014.
- [10] F. Mazenc, K.Y. Pettersen and H. Nijmeijer: Global uniform asymptotic stabilization of an underactuated surface vessel. IEEE Trans, on Automatic Control, 47(10), (2002), 1759-1762.
- [11] I. Kaminer, A. Pascoal, E. Hallberg and C. Silvestre: Trajectory tracking for autonomous vehicles: an integrated approach to guidance and control. J. Guidance, Control and Dynamics, 21(1) (1998), 29-38.
- [12] F. Repoulias and E. Papadopoulos: Planar trajectory planning and trac-king control design for underactuated AUVs. Ocean Engineering, ELSEVIER, 34 (2007), 1650-1667.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.baztech-article-BSW3-0061-0023