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自主水下航行器的变质心跟踪控制

李家旺 宋保维 邵成

李家旺, 宋保维, 邵成. 自主水下航行器的变质心跟踪控制. 自动化学报, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
引用本文: 李家旺, 宋保维, 邵成. 自主水下航行器的变质心跟踪控制. 自动化学报, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
LI Jia-Wang, SONG Bao-Wei, SHAO Cheng. Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass. ACTA AUTOMATICA SINICA, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
Citation: LI Jia-Wang, SONG Bao-Wei, SHAO Cheng. Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass. ACTA AUTOMATICA SINICA, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319

自主水下航行器的变质心跟踪控制


DOI: 10.3724/SP.J.1004.2008.01319
详细信息
    通讯作者: 李家旺

Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass

More Information
    Corresponding author: LI Jia-Wang
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  • 被引次数: 0
出版历程
  • 收稿日期:  2007-08-03
  • 修回日期:  2007-12-24
  • 刊出日期:  2008-10-20

自主水下航行器的变质心跟踪控制

doi: 10.3724/SP.J.1004.2008.01319
    通讯作者: 李家旺

摘要: The trajectory-tracking control problem is investigated 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 backstepping 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.

English Abstract

李家旺, 宋保维, 邵成. 自主水下航行器的变质心跟踪控制. 自动化学报, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
引用本文: 李家旺, 宋保维, 邵成. 自主水下航行器的变质心跟踪控制. 自动化学报, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
LI Jia-Wang, SONG Bao-Wei, SHAO Cheng. Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass. ACTA AUTOMATICA SINICA, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319
Citation: LI Jia-Wang, SONG Bao-Wei, SHAO Cheng. Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass. ACTA AUTOMATICA SINICA, 2008, 34(10): 1319-1323. doi: 10.3724/SP.J.1004.2008.01319

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