Nonlinear path-following control of an AUV

被引：251

作者：

Lapierre, Lionel ^{[1
]}

Soetanto, Didik ^{[1
]}

机构：

[1] LIRMM, F-34392 Montpellier 5, France

来源：

OCEAN ENGINEERING | 2007年 / 34卷 / 11-12期

关键词：

nonlinear control; path-following; underactuated vehicles; autonomous underwater vehicles;

D O I：

10.1016/j.oceaneng.2006.10.019

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

A new type of control law is developed to steer an autonomous underwater vehicle (AUV) along a desired path. The methodology adopted for path-following deals explicitly with vehicle dynamics. Furthermore, it overcomes stringent initial condition constraints that are present in a number of path-following control strategies described in the literature. Controller design builds on Lyapunov theory and backstepping techniques. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. Simulation results illustrate the performance of the control system proposed. (c) 2007 Published by Elsevier Ltd.

引用

页码：1734 / 1744

页数：11

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