Nonlinear RISE-Based Control of an Autonomous Underwater Vehicle

被引：176

作者：

Fischer, Nicholas ^{[1
]}

Hughes, Devin ^{[1
]}

Walters, Patrick ^{[1
]}

Schwartz, Eric M. ^{[2
]}

Dixon, Warren E. ^{[1
,2
]}

机构：

[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA

[2] Univ Florida, Dept Elect & Comp Engn, Gainesville, FL 32611 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2014年 / 30卷 / 04期

关键词：

Autonomous underwater vehicles (AUVs); marine robotics; nonlinear control; robust integral of the sign of the error (RISE); ASYMPTOTIC TRACKING; SYSTEMS; FEEDFORWARD;

D O I：

10.1109/TRO.2014.2305791

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This study focuses on the development of a nonlinear control design for a fully-actuated autonomous underwater vehicle (AUV) using a continuous robust integral of the sign of the error control structure to compensate for system uncertainties and sufficiently smooth bounded exogenous disturbances. A Lyapunov stability analysis is included to prove semiglobal asymptotic tracking. The resulting controller is experimentally validated on an AUV developed at the University of Florida in both controlled and open-water environments.

引用

页码：845 / 852

页数：8

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