信息与控制2012，Vol.41Issue(2)：180-184,192,6.DOI:10.3724/SP.J.1219.2012.00180
基于反步法的欠驱动UUV的3维路径跟踪控制
3D Path Following Control of Underactuated UUV Based on Backstepping
摘要
Abstract
Path following controller design of underactuated unmanned underwater vehicle (UUV) and its stability analysis in 3-dimensional space are studied. Firstly, a 6-DOF (degrees of freedom) kinematic model and a 6-DOF dynamic mode! Of the underactuated UUV in the form of second-order integrator are established. For the kinematic model, taking the position errors as the virtual control variable, a path following controller is designed based on backstepping. It is theoretically proved that the designed path following control system is stable according to the Lyapunov theory. The path following control of underactuaied UUV in 3-dimensional space is realized by the controller. The simulation results demonstrate its effectiveness.关键词
欠驱动UUV (unmanned underwater vehicle)/路径跟踪/反步法/李亚普诺夫理论Key words
underactuated UUV (unmanned underwater vehicle)/ path-following/ backstepping/ Lyapunov theory分类
信息技术与安全科学引用本文复制引用
严浙平,晏正新,牟春晖,边信黔..基于反步法的欠驱动UUV的3维路径跟踪控制[J].信息与控制,2012,41(2):180-184,192,6.基金项目
国家自然科学基金资助项目(E091002/50979017) （E091002/50979017）
教育部高等学校博士学科点专项科研基金资助项目(20092304110008) （20092304110008）
中央高校基本科研业务费专项资金资助项目(HEUCFU1026). （HEUCFU1026）
