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Volume 19 Issue 4
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2011  >  19(4): 271-275
XIA Liang-sheng, YAN Wei-sheng. Way-Point Tracking Control of an Underactuated AUV in the Presence of Ocean Current Disturbance[J]. Journal of Unmanned Undersea Systems, 2011, 19(4): 271-275. doi: 10.11993/j.issn.1673-1948.2011.04.008
Citation: XIA Liang-sheng, YAN Wei-sheng. Way-Point Tracking Control of an Underactuated AUV in the Presence of Ocean Current Disturbance[J]. Journal of Unmanned Undersea Systems, 2011, 19(4): 271-275. doi: 10.11993/j.issn.1673-1948.2011.04.008
shu

Way-Point Tracking Control of an Underactuated AUV in the Presence of Ocean Current Disturbance

doi: 10.11993/j.issn.1673-1948.2011.04.008
  • 1.

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

  • 2.

    Science and Technology on Underwater Information and Control Laboratory, Xi′an 710072, China

  • Received Date: 2011-04-06
  • Rev Recd Date: 2011-04-28
  • Publish Date: 2011-08-31
    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 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.

     

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    • References(8)
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