Path Tracking Control for an Autonomous Underwater Vehicle

被引：0
|
作者：
Hernandez, Ruben D. [1 ]
Falchetto, Vinicius B. [1 ]
Ferreira, Janito V. [1 ]
机构：
[1] Univ Campinas UNICAMP, Fac Mech Engn, Autonomous Mobil Lab LMA, Rua Mendeleyev 200, BR-13083860 Campinas, SP, Brazil
来源：
2015 WORKSHOP ON ENGINEERING APPLICATIONS - INTERNATIONAL CONGRESS ON ENGINEERING (WEA) | 2015年
关键词：
Autonomous Vehicles; Robust Control; Path Tracking;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper shows the simulation results of a mathematical model of an autonomous underwater vehicle (AUV), represented by its kinematic and dynamic models, tracking an helical path at a depth of 4- 10 meters. The vehicle used for the design of the controller is presented as a platform with six degrees of freedom, which is composed of six propulsion systems. The design of the Hoo controller is obtained by applying the classical technique of robust control in the linearized system obtained by the feedback linearization technique, where the outcome of the controller implementation can be compared to a simple technique of PD controller, noting that the designed controller acts on the trajectory in order to minimize its tracking error.
引用
收藏
页数：5
相关论文
共 50 条
  • [31] Path Tracking of an Autonomous Underwater Vehicle in Steering Plane Using an Observer based Sliding Mode Controller
    Zaidi, Adeel A.
    Adeel, Usman
    Memon, Attaullah Y.
    2014 INTERNATIONAL CONFERENCE ON OPEN SOURCE SYSTEMS AND TECHNOLOGIES (ICOSST), 2014, : 13 - 17
  • [32] Type 2 fuzzy cooperative steering control for path tracking of autonomous vehicle considering communication delay
    Wang, Xiaowei
    Li, Renbin
    Liu, Taiyou
    Li, Wenfeng
    Zhao, Jing
    IFAC PAPERSONLINE, 2024, 58 (29): : 190 - 195
  • [33] Path tracking framework synthesizing robust model predictive control and stability control for autonomous vehicle
    Yu, Jiaxing
    Pei, Xiaofei
    Guo, Xuexun
    Lin, JianGuo
    Zhu, Maolin
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2020, 234 (09) : 2330 - 2341
  • [34] Research on fuzzy control of path tracking for underwater vehicle based on genetic algorithm optimization
    Chen, JiaWang
    Zhu, Huangchao
    Zhang, Lei
    Sun, Yuxia
    OCEAN ENGINEERING, 2018, 156 : 217 - 223
  • [35] Adaptive nonlinear control of an autonomous underwater vehicle
    Tabataba'i-Nasab, Fahimeh S.
    Khalaji, Ali Keymasi
    Moosavian, Seyed Ali A.
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2019, 41 (11) : 3121 - 3131
  • [36] Development of Path Tracking Controller for An Autonomous Tracked Vehicle
    Subari, Muhammad Akhimullah
    Hudha, Khisbullah
    Abd Kadir, Zulkiffli
    Dardin, Syed Mohd Fairuz Syed Mohd
    Amer, Noor Hafizah
    2020 16TH IEEE INTERNATIONAL COLLOQUIUM ON SIGNAL PROCESSING & ITS APPLICATIONS (CSPA 2020), 2020, : 126 - 130
  • [37] ELM and LOS Based Path Tracking for Autonomous Underwater Vehicles
    Ding, Xin
    Liu, Wenqian
    Wan, Junhe
    He, Bo
    Nian, Rui
    Shen, Yue
    Yan, Tianhong
    OCEANS 2018 MTS/IEEE CHARLESTON, 2018,
  • [38] Path-tracking of an autonomous vehicle via model predictive control and nonlinear filtering
    Cui, Qingjia
    Ding, Rongjun
    Zhou, Bing
    Wu, Xiaojian
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2018, 232 (09) : 1237 - 1252
  • [39] A Tube-Based Model Predictive Control for Path Tracking of Autonomous Articulated Vehicle
    Lee, Taeyeon
    Jeong, Yonghwan
    ACTUATORS, 2024, 13 (05)
  • [40] Autonomous Underwater Vehicle Robust Path Tracking: Generalized Super-Twisting Algorithm and Block Backstepping Controllers
    Guerrero, J.
    Torres, J.
    Antonio, E.
    Campos, E.
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2018, 20 (02): : 51 - 63
12345