Design and analysis of fully-actuated AUV's three-dimensional path tracking control system

• Published in: Zhongguo Jianchuan Yanjiu
• Main Authors: Yao Jinyi, Zeng Qingjun, Zhao Qiang, Zhu Zhiyu, Dai Wenwen
• Format: Article
• Language: English
• Published: Editorial Office of Chinese Journal of Ship Research 2019-12-01
• Subjects: autonomous underwater vehicle(auv); control system; 3d path tracking; s surface controller
• Online Access: http://www.ship-research.com/EN/Y2019/V14/I6/22

<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.