Underactuated hovering control of the minitype autonomous underwater helicopter

被引：2

作者：

Feng, Rendong ^{[1
,3
]}

Xing, Shouzhuang ^{[5
]}

Wang, Zhanglin ^{[1
]}

Xu, Shijie ^{[1
]}

Wang, Hangzhou ^{[1
]}

Chen, Ying ^{[1
]}

Huang, Haocai ^{[1
,2
,3
,4
]}

机构：

[1] Zhejiang Univ, Inst Ocean Engn & Technol, Ocean Coll, Zhoushan 316021, Peoples R China

[2] Qingdao Natl Lab Marine Sci & Technol, Lab Marine Geol, Qingdao 266061, Peoples R China

[3] Zhejiang Univ, Hainan Inst, Sanya 572025, Peoples R China

[4] Zhejiang Univ, Key Lab Ocean Observat Imaging Testbed Zhejiang Pr, Zhoushan 316021, Peoples R China

[5] Zhejiang Branch China Tower Co LTD, Zhejiang 310000, Peoples R China

来源：

OCEAN ENGINEERING | 2023年 / 284卷

基金：

中国国家自然科学基金;

关键词：

Underactuated hovering; Inner; outer loop control; Autonomous Underwater Helicopter (AUH); VEHICLE;

D O I：

10.1016/j.oceaneng.2023.115201

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This work presents the development of the MAUH, a new type of minitype autonomous underwater helicopter capable of autonomous hovering using only four vertical thrusters. A nonlinear dynamic model of the MAUH was derived based on this underactuated hovering mode. The outer loop controller adopts integral sliding mode control (ISMC) to compute the intermediate command signal needed for the inner loop controller, while the inner loop controller, based on non-singular terminal sliding mode control (NTSMC), is utilized to track orientation error. Finally, simulations and experimental results demonstrate the effectiveness of the proposed underactuated hovering mode and control methods.

引用

页数：9

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