鱼雷技术2011，Vol.19Issue(4)：271-275,5.
海流干扰作用下欠驱动AUV航路点跟踪控制
Way-Point Tracking Control of an Underactuated AUV in the Presence of Ocean Current Disturbance
摘要
Abstract
This paper addresses the problem of way-point tracking control of an underactuated autonomous underwater vehicle (AUV) in the presence of ocean current disturbance. Kinematics and dynamics models for the underactuated AUV with three degrees of freedom in horizontal plane are established. A kinematic controller is designed with the dummy inputs of forward speed and angular velocity relative to the current. Then a dynamic controller is derived based on the Lyapunov theory and the backstepping techniques. Simulation results show that the underactuated AUV can effectively track the way-points in the inertial frame and reach the final destination with asymptotically converged tracking errors.关键词
欠驱动自主水下航行器/海流干扰/航路点跟踪/反演法Key words
underactuated autonomous underwater vehicle(AUV)/ocean current disturbance/way-point tracking/backstepping分类
军事科技引用本文复制引用
夏梁盛,严卫生..海流干扰作用下欠驱动AUV航路点跟踪控制[J].鱼雷技术,2011,19(4):271-275,5.基金项目
国家自然科学基金资助项目(60875071) （60875071）
高等学校博士点基金资助项目(200806990008). （200806990008）
