自动化学报2008，Vol.34Issue(10)：1319-1323,5.
自主水下航行器的变质心跟踪控制
Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass
李家旺 1宋保维 1邵成1
作者信息
- 1. College of Marine, Northwestern Polytechnical University, Xi'an 710072, P. R. China
- 折叠
摘要
Abstract
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 forcc the position errors to a small neighborhood of thc origin. Simulation results validate the proposcd tracking approach.关键词
Autonomous underwater vehicle (AUV)/movingmass/underactuated vehicle/tracking controlKey words
Autonomous underwater vehicle (AUV)/movingmass/underactuated vehicle/tracking control分类
航空航天引用本文复制引用
李家旺,宋保维,邵成..自主水下航行器的变质心跟踪控制[J].自动化学报,2008,34(10):1319-1323,5.
