Horizontal Trajectory Tracking of Underactuated AUV using Backstepping Approach

被引：17

作者：

Cho, Gun Rae ^{[1
]}

Park, Dae-Gil ^{[1
]}

Kang, Hyungjoo ^{[1
]}

Lee, Mun-Jik ^{[1
]}

Li, Ji-Hong ^{[1
]}

机构：

[1] Korea Inst Robot & Convergence, Pohang, South Korea

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 16期

关键词：

Autonomous underwater vehicle; trajectory tracking; backstepping scheme; coordinate transform; CONTROL DESIGN;

D O I：

10.1016/j.ifacol.2019.11.774

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper proposes a control scheme for trajectory tracking in horizontal plane for Autonomous Underwater Vehicles (AUVs) which include underactuated characteristics causing difficulty to design controller. By introducing appropriate coordinate transform, it is shown that the error dynamics of AUVs can be arranged in the strict feedback form. Based on the error dynamics, the proposed controller is designed using the backstepping approach. Lyapunov-based analysis shows that the proposed controller can converge the tracking error asymptotically. Through the simulation with REMUS model having three degree-of-freedom(surge, sway, yaw), it is shown that the AUV with the proposed controller can track the desired trajectory with accurate performance even when the controller contains dynamic model error. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：174 / 179

页数：6

共 50 条

[1] Adaptive Trajectory Tracking Control for an Underactuated AUV based on Command Filtered Backstepping
Jiang, Yunbiao
Guo, Chen
Yu, Haomiao
2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 3710 - 3715
[2] Trajectory Tracking Control of an Underactuated AUV Based on Backstepping Sliding Mode With State Prediction
Zhou, Jiajia
Zhao, Xinyi
Chen, Tao
Yan, Zheping
Yang, Zewen
IEEE ACCESS, 2019, 7 : 181983 - 181993
[3] Backstepping Trajectory Tracking of Underactuated Hovercraft
de Souza, Washington Fernandes
Rafikova, Elvira
Mendoza Meza, Magno Enrique
Gafurov, Salimzhan
2018 GLOBAL FLUID POWER SOCIETY PHD SYMPOSIUM (GFPS), 2018,
[4] Hierarchical Fuzzy/Lyapunov Control for Horizontal Plane Trajectory Tracking of Underactuated AUV
Raimondi, Francesco M.
Melluso, Maurizio
IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE 2010), 2010, : 1875 - 1882
[5] 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
[6] Trajectory tracking control of underactuated USV based on modified backstepping approach
Dong, Zaopeng
Wan, Lei
Li, Yueming
Liul, Tao
Zhane, Guocheng
INTERNATIONAL JOURNAL OF NAVAL ARCHITECTURE AND OCEAN ENGINEERING, 2015, 7 (05) : 817 - 832
[7] Horizontal Trajectory Tracking Control for an Underactuated AUV Adopted Global Integral Sliding Mode Control
Jiang, Yunbiao
Guo, Chen
Yu, Haomiao
PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 5786 - 5791
[8] On the Trajectory Tracking Problem of Underactuated Deep Diving AUV
Zhang, Honghan
Xu, Yajie
Zhou, Jiajia
Fan, Hao
2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 3812 - 3817
[9] 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
[10] 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

← 1 2 3 4 5 →