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
相关论文
共 50 条
  • [31] A Robust State Feedback Optimal Control Law with Backstepping Approach for Steering Control of an Autonomous Underwater Vehicle Using Semi-definite Programming
    Siddhartha Vadapalli
    Subhasish Mahapatra
    Arabian Journal for Science and Engineering, 2023, 48 : 14449 - 14462
  • [32] A Robust State Feedback Optimal Control Law with Backstepping Approach for Steering Control of an Autonomous Underwater Vehicle Using Semi-definite Programming
    Vadapalli, Siddhartha
    Mahapatra, Subhasish
    ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2023, 48 (11) : 14449 - 14462
  • [33] Navigation control method for autonomous vehicle based on Backstepping algorithm
    You, Feng
    Wang, Rong-ben
    Zhang, Rong-hui
    General System and Control System, Vol I, 2007, : 127 - 130
  • [34] Controller Design for the Pitch Control of an Autonomous Underwater Vehicle
    Priyadarsini, Linkan
    Kundu, Shubhasri
    Maharana, Manoj Kumar
    Ganthia, Bibhu Prasad
    ENGINEERING TECHNOLOGY & APPLIED SCIENCE RESEARCH, 2022, 12 (04) : 8967 - 8971
  • [35] A static output feedback control design for path following of autonomous underwater vehicle in vertical plane
    Subudhi, Bidyadhar
    Mukherjee, Koena
    Ghosh, Sandip
    OCEAN ENGINEERING, 2013, 63 : 72 - 76
  • [36] Design and Motion Control of Autonomous Underwater Vehicle, Amogh
    Upadhyay, V.
    Gupta, S.
    Dubey, A. C.
    Rao, M. J.
    Siddhartha, P.
    Gupta, V.
    George, S.
    Bobba, R.
    Sirikonda, R.
    Maloo, A.
    Idichandy, V. G.
    2015 IEEE UNDERWATER TECHNOLOGY (UT), 2015,
  • [37] An Advanced Autonomous Underwater Vehicle Design and Control Strategy
    Che, Jiaxing
    Cernio, Joseph
    Prainito, Joseph
    Zuba, Michael
    Cao, Chengyu
    Cui, Jun-Hong
    Kazerounian, Kazem
    2012 OCEANS, 2012,
  • [38] OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE
    Raeisy, B.
    Safavi, A. A.
    Khayatian, A. R.
    IRANIAN JOURNAL OF FUZZY SYSTEMS, 2012, 9 (02): : 25 - 41
  • [39] Maneuvering control system design for autonomous underwater vehicle
    Miyamoto, S
    Aoki, T
    Maeda, T
    Hirokawa, K
    Ichikawa, T
    Saitou, T
    Kobayashi, H
    Kobayashi, E
    Iwasaki, S
    OCEANS 2001 MTS/IEEE: AN OCEAN ODYSSEY, VOLS 1-4, CONFERENCE PROCEEDINGS, 2001, : 482 - 489
  • [40] Design of Expert Systems for Autonomous Underwater Vehicle Control
    Teubler, Torsten
    Hellbrueck, Horst
    OCEANS 2016 MTS/IEEE MONTEREY, 2016,
12345