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题名: Adaptive attitude control of Autonomous Underwater Vehicles using back-stepping
作者: Liu, Yuqian; Che, Jiaxing; Xu HL(徐红丽); Cao, Chengyu
作者部门: 海洋信息技术装备中心
会议名称: 10th ACM International Conference on Underwater Networks and Systems, WUWNet 2015
会议日期: October 22-24, 2015
会议地点: Washington, DC, USA
会议主办者: Association for Computing Machinery Special Interest Group on Mobility of Systems, Users, Data, and Computing (ACM SIGMOBILE)
会议录: Proceedings of the 10th International Conference on Underwater Networks & Systems
会议录出版者: ACM
会议录出版地: New York, NY, USA
出版日期: 2015
页码: 1-2
收录类别: EI
ISBN号: 978-1-4503-4036-6
关键词: Autonomous underwater vehicle (AUV) ; attitude control ; back-stepping control
摘要: This paper gives an attitude controller design for an advanced Autonomous Underwater Vehicle (AUV) prototype by using back-stepping control strategy. The advanced AUV design driven by four water pumps has been well presented in previous publications. The nonlinear kinematic and dynamic model has been presented. The dynamic uncertainties from external disturbance and actuator dynamics has been introduced. Since the kinematics and dynamics of attitude problem are in strict feedback form, back-stepping control strategy would be capable of handling this sort of problem. Due to the propulsion method of the vehicle, only two angle channels of attitude are controllable. The self-stability of roll angle channel is ensured by the physical design and validated by the experiment.
语种: 英语
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18602
Appears in Collections:海洋信息技术装备中心_会议论文

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Recommended Citation:
Liu, Yuqian,Che, Jiaxing,Xu HL,et al. Adaptive attitude control of Autonomous Underwater Vehicles using back-stepping[C]. 见:10th ACM International Conference on Underwater Networks and Systems, WUWNet 2015. Washington, DC, USA. October 22-24, 2015.
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文件名: Adaptive attitude control of Autonomous Underwater Vehicles using back-stepping.pdf
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