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Volume 15 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2007  >  15(3): 001-7
GE Hui, XU De-min, XIANG Qin-rui. New Development of Control Technique of Autonomous Underwater Vehicle[J]. Journal of Unmanned Undersea Systems, 2007, 15(3): 001-7. doi: 10.11993/j.issn.1673-1948.2007.03.001
Citation: GE Hui, XU De-min, XIANG Qin-rui. New Development of Control Technique of Autonomous Underwater Vehicle[J]. Journal of Unmanned Undersea Systems, 2007, 15(3): 001-7. doi: 10.11993/j.issn.1673-1948.2007.03.001
shu

New Development of Control Technique of Autonomous Underwater Vehicle

doi: 10.11993/j.issn.1673-1948.2007.03.001
  • 1.

    College of Marine Engineering,Northwestern Polytechnical University, Xi′an 710072, China

  • 2.

    The 705 Research Institute, China Shipbuilding Industry Corporation, Xi′an 710075, China

  • Received Date: 2007-03-02
  • Rev Recd Date: 2007-04-23
  • Publish Date: 2007-06-30
    Abstract
  • The autonomous underwater vehicle(AUV) is a complex intelligent electromechanical system to carry out different types of missions in the complex ocean environment. This paper introduces the new progress of the AUV control technique worldwide in recent years, including the modeling based on controller design, modeling and control of thruster, dynamic positioning, vector thrust control, and underactuated control, etc. It is pointed out that a continuous effort should be made to overcome such difficulties in the field of AUV control as uncertainties of modeling and disturbance, insufficient information from sensors, inherent characteristics of underactuated system (e.g. controllability) and its control technique.

     

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