Trajectory-Tracking Control of Underwater Vehicles

被引：5
作者：
Zak, Andrzej [1 ]
机构：
[1] Polish Naval Acad, PL-81103 Gdynia, Poland
来源：
ADVANCES IN MECHATRONIC SYSTEMS, MECHANICS AND MATERIALS | 2013年 / 196卷
关键词：
trajectory tracking; underwater vehicles; control system; fuzzy logic;
D O I：
10.4028/www.scientific.net/SSP.196.156
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The main aim of paper is to introduce the results of research concentrated on controlling remotely operated underwater vehicle which task is trajectory tracking with high accuracy. Firstly the problem of trajectory tracking and its formal and mathematical description were introduced. Next the proposed fuzzy autopilot which assure high precision of trajectory tracking by underwater vehicle was presented. At the end the example results of research on trajectory tracking in environment without and with disturbance were presented. The paper is finished by summary which include conclusions derive from results of research.
引用
收藏
页码：156 / 165
页数：10
相关论文
共 50 条
  • [21] Nonlinear trajectory tracking control of underactuated unmanned underwater vehicles under stochastic disturbances
    Wang, Man
    Li, Qingwei
    Liu, Chao
    He, Jiafan
    2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 2133 - 2138
  • [22] Model Predictive Visual Trajectory-Tracking Control of Wheeled Mobile Robots
    Bai, Hongli
    Gao, Jian
    Sun, Xiaoxiao
    Yan, Weisheng
    2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2019, : 569 - 574
  • [23] Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays
    Zhou, Jiajia
    Zhao, Xinyi
    Feng, Zhiguang
    Wu, Di
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (03)
  • [24] Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty
    Aguiar, A. Pedro
    Hespanha, Joao P.
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (08) : 1362 - 1379
  • [25] Observation-Based Nonlinear Proportional-Derivative Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles
    Guerrero, Jesus
    Torres, Jorge
    Creuze, Vincent
    Chemori, Ahmed
    IEEE JOURNAL OF OCEANIC ENGINEERING, 2020, 45 (04) : 1190 - 1202
  • [26] Model predictive control for trajectory-tracking and formation of wheeled mobile robots
    Juntao Wei
    Bing Zhu
    Neural Computing and Applications, 2022, 34 : 16351 - 16365
  • [27] Model predictive control for trajectory-tracking and formation of wheeled mobile robots
    Wei, Juntao
    Zhu, Bing
    NEURAL COMPUTING & APPLICATIONS, 2022, 34 (19) : 16351 - 16365
  • [28] Trajectory Tracking Control for Autonomous Underwater Vehicles Based on Fuzzy Re-Planning of a Local Desired Trajectory
    Liu, Xing
    Zhang, Mingjun
    Rogers, Eric
    IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2019, 68 (12) : 11657 - 11667
  • [29] Trajectory-Tracking Control of Robotic Systems via Deep Reinforcement Learning
    Zhang, Shansi
    Sun, Chao
    Feng, Zhi
    Hu, Guoqiang
    PROCEEDINGS OF THE IEEE 2019 9TH INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) ROBOTICS, AUTOMATION AND MECHATRONICS (RAM) (CIS & RAM 2019), 2019, : 386 - 391
  • [30] Adaptive Trajectory Tracking Control With Novel Heading Angle and Velocity Compensation for Autonomous Underwater Vehicles
    Wang, Rui
    Tang, Liqiang
    Yang, Yongliang
    Wang, Shuo
    Tan, Min
    Xu, Cheng-Zhong
    IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2023, 8 (03): : 2135 - 2147
12345