Nonlinear path following control of autonomous underwater vehicles: Under-actuated and fully-actuated cases

Xianbo Xiang,Jinrong Zheng,Caoyang Yu,Guohua Xu

Control Conference（2014）

引用 4|浏览3

暂无评分

摘要

This paper addresses the problem of nonlinear path following control of fully-actuated and under-actuated autonomous underwater vehicles. The similarity and difference of control designs on these two kinds of vehicles are analyzed, Where the side-slip angle is critical in dynamics evolving for both under-actuated and fully-actuated AUVs, which makes the difference in path following control design. As a result, the nonlinear controller for each type of AUV is proposed, and the inherent characteristics of under actuation and full actuation are revealed through numerical simulations.

查看译文

关键词

autonomous underwater vehicles,control system synthesis,nonlinear control systems,numerical analysis,path planning,robot dynamics,autonomous underwater vehicles,control design,full actuation characteristic,fully-actuated AUV,nonlinear path following control,numerical simulations,side-slip angle,under actuation characteristic,under-actuated AUV,AUV,Full actuation,Path following,Under actuation

AI 理解论文

溯源树

样例

生成溯源树，研究论文发展脉络

Chat Paper

正在生成论文摘要