Planar trajectory planning and tracking control design for underactuated AUVs |
| |
| Authors: | Filoktimon Repoulias Evangelos Papadopoulos |
| |
| Institution: | aDepartment of Mechanical Engineering, National Technical University of Athens, 15780 Athens, Greece |
| |
| Abstract: | This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory. |
| |
| Keywords: | Underactuated AUV Trajectory planning Tracking control |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
