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| Weather Optimal Dynamic Positioning Control of Fully Actuated Autonomous Underwater Vehicles with Current |
| GE Hui, JING Zhong-Liang |
| (School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract The weather optimal dynamic positioning control was brought out for the fully actuated autonomous underwater vehicles(AUV) with the influence of current. The AUVs are controlled under certain position and posture with the antidirection of the current and holding the determinate distance. Then the current influence are cancelled out by the main thrusters without the help of other thrusters, at the same time, fuel consumption is reduced. Considering the unmatched uncertainties in the dynamic system for the reason of current, the adaptive backstepping control based on the neural network was used. The simulation proved the effectiveness of the dynamic positioning controller.
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Received: 27 July 2010
Published: 29 July 2011
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