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| Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles |
| SU Yu-Min-1, CAO Jian-1, XU Feng-2, ZHANG Guo-Cheng-1 |
| (1. State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China; 2. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract This paper researches on the problem of path-following control of underactuated autonomous underwater vehicles (AUV). In SerretFrenet frame, a pathfollowing error dynamics, corresponding to a virtual target AUV, was constructed. Building on the error dynamics and combining with the vehicle’s dynamics, a nonlinear controller based on Lyapunov stable theory and backstepping techniques was developed. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. The simulation results illustrate the performance of the control system proposed.
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Published: 28 June 2012
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