Trajectory tracking of the Cormoran AUV based on a PI-MIMO approach

被引：0
|
作者：
Valenciaga, F. [1 ]
Puleston, P. F. [1 ]
Calvo, O. [2 ]
Acosta, G. G. [3 ]
机构：
[1] Natl Univ La Plata, Fac Engn, LEICI, CC-91,CP-1900, La Plata, Buenos Aires, Argentina
[2] Univ Ballearic Islands, Dept Phys, Palma De Mallorca, Spain
[3] Bs As Province Ctr Natl Univ, Fac Engn, INTELYMEC, Tandil, Argentina
来源：
OCEANS 2007 - EUROPE, VOLS 1-3 | 2007年
关键词：
D O I：
暂无
中图分类号：
X [环境科学、安全科学];
学科分类号：
08 ; 0830 ;
摘要：
This paper describes the control strategy developed for the Cormoran, a low cost ocean observing platform, hybrid between AUVs and ASVs. This robot moves slightly underneath the sea surface following a previously planned route and regularly dives to make vertical profiles of the water column. Obtained data is transmitted in real time to the laboratory and assimilated into a numerical coastal model. The control structure proposed in this article comprises a Navigation Block and a MIMO Control Block. The former is based on a following Lyapunov-based algorithm and computes on-line the reference signals required by the latter to reach and robustly track the desired trajectory. The MIMO Control Block architecture is based on a PI-MIMO control strategy that commands the rudder and the propeller. Computer simulations utilizing a dynamic model of the Cormoran and realistic disturbances are presented.
引用
收藏
页码：604 / +
页数：2
相关论文
共 50 条
  • [21] Three-dimensional Trajectory Tracking Control of an Underactuated AUV
    Wang, Zhao
    Wang, Yuan
    Jiang, Shenghui
    Li, Shurong
    2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 525 - 530
  • [22] Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances
    Henninger, Helen C.
    von Ellenrieder, Karl D.
    Biggs, James D.
    IFAC PAPERSONLINE, 2019, 52 (21): : 242 - 247
  • [23] Passive Velocity Field Control for AUV Planar Trajectory Tracking
    Suasan, Thanasit
    Saimek, Saroj
    CIRCUITS, SYSTEM AND SIMULATION, 2011, 7 : 87 - 91
  • [24] A novel approach to 6-DOF adaptive trajectory tracking control of an AUV in the presence of parameter uncertainties
    Rezazadegan, F.
    Shojaei, K.
    Sheikholeslam, F.
    Chatraei, A.
    OCEAN ENGINEERING, 2015, 107 : 246 - 258
  • [25] Trajectory Tracking of Robot Based on Fractional Order Fuzzy PI Controller
    Wang, Lin
    Zhong, Chongquan
    2018 INTERNATIONAL CONFERENCE ON SENSING, DIAGNOSTICS, PROGNOSTICS, AND CONTROL (SDPC), 2018, : 767 - 771
  • [26] Navigation and trajectory tracking of mobile robot based on kinematic PI controller
    Ben Halima Abid, Donia
    Yousfi Allagui, Najah
    Derbel, Nabil
    2017 18TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA), 2017, : 252 - 256
  • [27] Hamiltonian based AUV navigation using adaptive finite-time trajectory tracking control
    Cui, Jiankuo
    Hou, Mengxue
    Peng, Zheng
    Wang, Ying
    Cui, Jun-Hong
    OCEAN ENGINEERING, 2025, 320
  • [28] Learning-Based Model Predictive Control for Addressing Model Mismatch in AUV Trajectory Tracking
    Shen, Xuyu
    Jiao, Huifeng
    Sun, Gongwu
    Hu, Xuanyu
    Zhao, Yuchen
    Chu, Zhenzhong
    Chen, Qi
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2024, PT VI, 2025, 15206 : 45 - 56
  • [29] Adaptive Backstepping Sliding Mode for Underactuated AUV Trajectory Tracking Based on Ocean Current Observer
    Liu L.
    Wang H.
    Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, 2020, 53 (07): : 745 - 753
  • [30] Three-dimensional trajectory tracking of an underactuated AUV based on fuzzy dynamic surface control
    Liang, Xiao
    Qu, Xingru
    Wang, Ning
    Zhang, Rubo
    Li, Ye
    IET INTELLIGENT TRANSPORT SYSTEMS, 2020, 14 (05) : 364 - 370
12345