Trajectory Tracking of Fully Actuated AUV Based on TLC Method

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Trajectory Tracking of Fully Actuated AUV Based on TLC Method

GE Hui1,JING Zhongliang1，GAO Jian2

(1.School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China;2.Key Laboratory of Underwater Information and Control, Northwestern Polytechnical University, Xi’an 710072, China)

Received:2010-07-28 Revised:1900-01-01 Online:2011-02-28 Published:2011-02-28

Abstract

Abstract: Trajectory linearization control(TLC) was used to design the trajectory tracking control system for the fully actuated underwater vehicle. The TLC method is a novel and effective control theory for the tracking and decoupling method for nonlinear system which is essentially robust to the outside disturbance and could adjust the bandwidth online. The whole trajectory tracking control system is divided into two loops: fast loop and slow loop based on the time scale separation idea which belongs to the differential equation singular perturbation theory. The TLC controller is designed for the two loops. Lyapunov method is used in the stability analysis. The simulation proves the availability of the TLC controllers.

CLC Number:

TP24

GE Hui1,JING Zhongliang1，GAO Jian2
. Trajectory Tracking of Fully Actuated AUV Based on TLC Method
[J]. Journal of Shanghai Jiaotong University.

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Trajectory Tracking of Fully Actuated AUV Based on TLC Method

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