Weather Optimal Dynamic Positioning Control of Fully Actuated Autonomous Underwater Vehicles with Current

Abstract

Abstract: The weather optimal dynamic positioning control was brought out for the fully actuated autonomous underwater vehicles(AUV) with the influence of current. The AUVs are controlled under certain position and posture with the antidirection of the current and holding the determinate distance. Then the current influence are cancelled out by the main thrusters without the help of other thrusters, at the same time, fuel consumption is reduced. Considering the unmatched uncertainties in the dynamic system for the reason of current, the adaptive backstepping control based on the neural network was used. The simulation proved the effectiveness of the dynamic positioning controller.

Key words: weather optimal, dynamic positioning control, autonomous underwater vehicle(AUV), neural network, adaptive backstepping

CLC Number:

TP24

GE Hui, JING Zhong-Liang. Weather Optimal Dynamic Positioning Control of Fully Actuated Autonomous Underwater Vehicles with Current[J]. Journal of Shanghai Jiaotong University, 2011, 45(07): 961-965.

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Weather Optimal Dynamic Positioning Control of Fully Actuated Autonomous Underwater Vehicles with Current

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