Design and analysis of fully-actuated AUV's three-dimensional path tracking control system
<b>[Objectives]</b> In order to meet the requirements of underwater search and rescue,recovery and submarine geomorphology imaging of fully-actuated Autonomous Underwater Vehicle (AUV), the application method of its three-dimensional path tracking control is studied.<b>[Methods]<...
| Published in: | Zhongguo Jianchuan Yanjiu |
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| Main Authors: | , , , , |
| Format: | Article |
| Language: | English |
| Published: |
Editorial Office of Chinese Journal of Ship Research
2019-12-01
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| Subjects: | |
| Online Access: | http://www.ship-research.com/EN/Y2019/V14/I6/22 |
| Summary: | <b>[Objectives]</b> In order to meet the requirements of underwater search and rescue,recovery and submarine geomorphology imaging of fully-actuated Autonomous Underwater Vehicle (AUV), the application method of its three-dimensional path tracking control is studied.<b>[Methods]</b> The composition of the self-developed fully-actuated "T-SEA I" AUV was described. The mathematical models of the thruster,horizontal and vertical controls of the AUV were studied and established. A novel intelligent integrated S surface controller of three-dimensional path tracking was designed,and the stability of the system was analyzed. The simulation analysis and lake trial were undertaken.<b>[Results]</b> The results show that the AUV developed in this paper runs reliably. The controller designed can better complete the three-dimensional path tracking task and meet the actual underwater task requirements.<b>[Conclusions]</b> The AUV three-dimensional path tracking controller can be used for reference in the application of fully-actuated AUVs and the path tracking control in other fields. |
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| ISSN: | 1673-3185 1673-3185 |