A New Backstepping Control Design Method for Autonomous Underwater Vehicle in Diving and Steering Plane

被引：0
|
作者：
Rath, Biranchi Narayan [1 ]
Subudhi, Bidyadhar [1 ]
Filaretov, Vladimir [2 ]
Zuev, Alexander [2 ]
机构：
[1] Natl Inst Technol Rourkela, Dept Elect Engn, Rourkela 769008, Odisha, India
[2] Far Eastern Fed Univ, Dept Automat & Control, Vladivostok 690041, Russia
来源：
TENCON 2017 - 2017 IEEE REGION 10 CONFERENCE | 2017年
关键词：
Autonomous Underwater vehicle(AUV); degree of freedom (dof); path-following; feedback linearisation; back-stepping controller; UAV;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper a backstepping method has been designed for stabilization and control of an Autonomous Underwater Vehicle (AUV). In order to design the backsteeping controller the equations governing the dynamics of AUV are represented in strict feedback form. A three degree of freedom structure of a prototype AUV is used to verify the diving control problem and steering control problem, to achieve the tracking of desired depth profile and desired yaw orientation profile respectively.
引用
收藏
页码：1984 / 1987
页数：4
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