自主水下航行器的变质心跟踪控制(英文)

被引：8

作者：

李家旺

宋保维

邵成

机构：

[1] College of Marine

[2] Northwestern Polytechnical University

[3] Xi’an

[4] PRChina

来源：

自动化学报 | 2008年 / 10期

关键词：

Autonomous underwater vehicle (AUV); moving mass; underactuated vehicle; tracking control;

D O I：

暂无

中图分类号：

U674.941 [潜水船];

学科分类号：

082401 ;

摘要：

<正>The trajectory-tracking control problem is inves- tigated for an autonomous underwater vehicle (AUV) moving in the vertical plane using an internal point mass and a rear thruster as actuators.Combined with the dynamics of the point mass,the AUV is modeled as an underactuated system.A Lyapunov-based tracking controller is proposed by using back- stepping approach to stabilize the error dynamics and force the position errors to a small neighborhood of the origin.Simulation results validate the proposed tracking approach.

引用

页码：1319 / 1323

页数：5