Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles

Abstract

Abstract: This paper researches on the problem of path-following control of underactuated autonomous underwater vehicles (AUV). In SerretFrenet frame, a pathfollowing error dynamics, corresponding to a virtual target AUV, was constructed. Building on the error dynamics and combining with the vehicle’s dynamics, a nonlinear controller based on Lyapunov stable theory and backstepping techniques was developed. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. The simulation results illustrate the performance of the control system proposed.

Key words: nonlinear control, path-following, underactuated vehicles, autonomous underwater vehicles, Serret-Frene frame

CLC Number:

TP 242

SU Yu-Min-1, CAO Jian-1, XU Feng-2, ZHANG Guo-Cheng-1. Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles[J]. Journal of Shanghai Jiaotong University, 2012, 46(06): 977-983.

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