Autonomous Underwater Vehicle Model for Underactuated Control Design and Path Following Applications
نویسندگان
چکیده
A manoeuvring model and a design technique for path following applications of underactuated underwater vehicles are summarized. The model applies to slender body autonomous underwater vehicles (AUV) of cylindrical shape employing similar types of steering and diving control surfaces, and is meant for low speed manoeuvring applications. The underactuated design procedure used to successfully solve a path following task is briefly explained.
منابع مشابه
Design of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective
In this paper, kinematic and dynamic equations of a 6-DOF (Degrees Of Freedom) autonomous underwater vehicle (6-DOF AUV) are introduced and described completely. By developing the nonsingular terminal sliding mode control method, three separate groups of control inputs are proposed for the autonomous underwater vehicle subjected to uncertainties including parametric uncertainties, unmodeled dyn...
متن کاملCoordinated path-following of multiple underactuated autonomous vehicles with bidirectional communication constraints
This paper addresses the problem of steering a group of underactuated autonomous vehicles along given spatial paths, while holding a desired inter-vehicle formation pattern. For a general class of vehicles moving in either two or threedimensional space, we show how Lyapunov-based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of...
متن کاملA Bio-Inspired Neurodynamics Based backstepping Path-following Control of an AUV with Ocean Current
A bio-inspired neurodynamics based path-following controller of underactuated autonomous underwater vehicle (AUV) in the presence of ocean current is proposed. A kind of bio-inspired neurodynamics model and the backstepping path-following controller are combined in this paper. The bio-inspired neurodynamics model is applied to generate smooth forward and angular velocities, so that the sharp sp...
متن کاملGlobal Directional Control of a Slender Autonomous Underwater Vehicle
C ONVENTIONAL streamlined autonomous underwater vehicles (AUVs) are underactuated by design. Typically, they include a propulsor and torque actuators, such as control planes. In this Note, it is assumed that the 6 degrees of freedom vehicle is actuated in 4 degrees of freedom: surge, roll, pitch, and yaw. The control objective is to globally asymptotically stabilize longitudinalaxis translation...
متن کاملتعیین ضرایب هیدرودینامیکی زیرسطحیها به روش تست مدل
In recent years, unmanned vehicles have intensively been developed to reduce human dangers for marine applications. Predicting the hydrodynamic coefficients of an autonomous underwater vehicle is important during the vehicle’s design phase. In other words to design an AUV, one must clarify its maneuverability and controllability based on a mathematical model. The mathematical model contains var...
متن کامل