A new type of control law is developed to steer an AUV ( autonomous underwater vehicle) along a desired path. The methodology adopted for path-following deals explicitly with vehicle dynamics. Furthermore, it overcomes stringent initial condition constraints that are present in a number of path-following control strategies described in the literature. Controller design builds on Lyapunov theory and backstepping techniques. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. Simulation results illustrate the performance of the control system proposed.
Nonlinear path-following control of an AUV
Nichtlineare Bewegungsbahnfolgeregelung für ein autonomes Unterwasserfahrzeug
Ocean Engineering ; 34 , 11-12 ; 1734-1744
2007
11 Seiten, 17 Quellen
Aufsatz (Zeitschrift)
Englisch
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