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Trajectory Tracking of Fully Actuated AUV Based on TLC Method
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GE Hui1,JING Zhongliang1，GAO Jian2
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(1.School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China;2.Key Laboratory of Underwater Information and Control, Northwestern Polytechnical University, Xi’an 710072, China)
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Abstract Trajectory linearization control(TLC) was used to design the trajectory tracking control system for the fully actuated underwater vehicle. The TLC method is a novel and effective control theory for the tracking and decoupling method for nonlinear system which is essentially robust to the outside disturbance and could adjust the bandwidth online. The whole trajectory tracking control system is divided into two loops: fast loop and slow loop based on the time scale separation idea which belongs to the differential equation singular perturbation theory. The TLC controller is designed for the two loops. Lyapunov method is used in the stability analysis. The simulation proves the availability of the TLC controllers.
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Received: 28 July 2010
Published: 28 February 2011
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