Homing and Docking Autopilot Design for Autonomous Underwater Vehicle

被引：8

作者：

Pshikhopov, V. Kh ^{[1
]}

Medvedev, M. Yu ^{[1
]}

Gurenko, B., V ^{[1
]}

机构：

[1] Southern Fed Univ, Dept Elect Sci & Mechatron, Taganrog 347928, Russia

来源：

MECHANICAL DESIGN AND POWER ENGINEERING, PTS 1 AND 2 | 2014年 / 490-491卷

关键词：

docking; homing autopilot; estimations; underwater vehicle;

D O I：

10.4028/www.scientific.net/AMM.490-491.700

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents homing and docking autopilot design for the autonomous underwater vehicle (AUV). A nonlinear interrelated dynamic model of the underwater vehicle is considered. The AUV autopilot is designed on base of a position-trajectory control method. Adaptation of the control system is based on robust disturbances estimation. Modeling and hardware results approved feasibility of the proposed methods.

引用

页码：700 / 707

页数：8

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