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3D path following control method for torpedo-type AUVs with uncertainty terms in their dynamics
Li, JH; Kang, HJ; Hong, SM; Suh, JH; Li S(李硕)
作者部门水下机器人研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码1407-1412
收录类别EI ; CPCI(ISTP)
EI收录号20171403534906
WOS记录号WOS:000405724600237
产权排序2
ISBN号978-1-5090-4363-7
摘要This paper presents a 3D path following control scheme for a class of torpedo-type autonomous underwater vehicles (AUVs) with uncertainty terms in their dynamics. For this kind of torpedo-type AUVs, there are only three control inputs, surge force, pitch and yaw moments, available for the vehicles' 6DOF 3D underwater motions. Therefore, it's a typical underactuated system. To tackle the 3D path following problem for this underactuated system, in this paper, we first introduce certain two spherical coordinate transformations so as to transform the vehicle's kinematics and dynamics model into three-inputs-three-outputs 2nd order strict-feedback form. Then, to avoid possible singularity problem in the recursive control design for this strict-feedback form of system, a similar asymptotic modification of orientation concept as in [1] is applied. In the case of uncertainty terms in the vehicle's dynamics, the proposed path following scheme can guarantee the uniformly ultimately boundedness (UUB) of closed-loop system in the spherical coordinate frame.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20184
专题水下机器人研究室
通讯作者Li, JH
作者单位1.Korea Institute of Robot and Convergence, Jigok-Ro 39, Nam-Gu, Pohang, 37666, Korea, Republic of
2.Shenyang Institute of Automation, Chinese Academy of Sciences, 114 Nanta Street, Shenhe District, China
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GB/T 7714
Li, JH,Kang, HJ,Hong, SM,et al. 3D path following control method for torpedo-type AUVs with uncertainty terms in their dynamics[C]. New York:IEEE,2016:1407-1412.
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