Spatial Curvilinear Path Following Control of Underactuated AUV

doi:10.3969/j.issn.1000-1093.2017.09.016

Abstract

Abstract: Based on the modified back-stepping technique, a simple and robust spatial curvilinear path following controller for the underactuated autonomous underwater vehicles (AUVs) with model uncertainties and input saturation is presented. A path following error dynamics model is constructed in a moving Serret-Frenet frame, and the kinematic controller and dynamic controller are developed based on line-of-sight (LOS) guidance algorithm and virtual moving target method. Differing from the traditional integrator backstepping technique, the proposed method is to introduce the integral tracking errors into the controller design to improve the robustness against the uncertainties. The dynamic model is used to solve the non-causal form caused by the coupled underactuated degrees. The nonlinear tracking differentiators (NTDs) are employed to construct the numerical solution of differential virtual control commands to tackle the problem of “explosion of terms” in the traditional back-stepping process, and the dynamic controller expressions are simplified. Simulations demonstrate that the designed controller realizes the spatial curvilinear path following control of underactuated AUV with model parameter uncertainties and input saturation, and its accuracy and robustness are more excellent than those of the traditional back-stepping control. Key

Key words: controlscienceandtechnology, underactuatedAUV, spatialcurvilinearpathfollowing, back-stepping, Lyapunov’stheory

CLC Number:

TP242.3

MIAO Jian-ming, WANG Shao-ping, FAN Lei, LI Yuan. Spatial Curvilinear Path Following Control of Underactuated AUV[J]. Acta Armamentarii, 2017, 38(9): 1786-1796.

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第38卷
第9期2017 年9月兵工学报ACTA
ARMAMENTARIIVol.38No.9Sep.2017

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