Velocity tracking control of AUVs in horizontal motion

机译：水平运动中AUV的速度跟踪控制

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摘要

In the paper the problem of velocity tracking control of Autonomous Underwater Vehicles (AUVs) in horizontal plane is considered. The proposed approach is based on transformed equations of motion and it allows one to apply the dynamical couplings in the control gain matrix. As a result, the dynamics of the vehicle is included into the control process what leads to fast system response. The stability of the system with the controller is done using the Lyapunov method. Effectiveness of the control algorithm is validated via simulations on a 3 DOF underwater marine vehicle model.

机译：在本文中，考虑了自动水下航行器（AUV）在水平面上的速度跟踪控制问题。所提出的方法基于变换后的运动方程，它允许将动态耦合应用于控制增益矩阵。结果，车辆的动力学特性被包含在控制过程中，从而导致快速的系统响应。带有控制器的系统的稳定性是使用Lyapunov方法完成的。该控制算法的有效性通过在3自由度水下船舶模型上的仿真得到了验证。

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来源
《2016 3rd Conference on Control and Fault-Tolerant Systems》|2016年|105-110|共6页
会议地点 Barcelona(ES)
作者
Przemysław Herman; Wojciech Kowalczyk;
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作者单位

Chair of Control and systems Engineering, Poznan Univeristy of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland;

Chair of Control and systems Engineering, Poznan Univeristy of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Vehicles; Matrix decomposition; Symmetric matrices; Tracking; Mathematical model; Couplings; Marine vehicles;

机译：车辆;矩阵分解;对称矩阵;跟踪;数学模型;联轴器;海洋车辆;

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专利

1. Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan [J] . Jawhar Ghommam, Maarouf Saad International Journal of Control . 2014,第4a6期

机译：基于Backstepping的水平驱动欠驱动AUV的协同自适应跟踪控制设计
2. A DYNAMIC VELOCITY REGULATION APPROACH TO PLANAR TRAJECTORY TRACKING CONTROL OF UNDERACTUATED AUVs [J] . Zhao Junpeng, Zhou Jiajia, Yang Simon X., International Journal of Robotics & Automation . 2017,第5期

机译：欠压AUV平面轨迹跟踪控制的动态速度调节方法
3. Optimal robust trajectory tracking control of a X-rudder AUV with velocity sensor failures and uncertainties [J] . Ocean Engineering . 2020,第Feba15期

机译：具有速度传感器故障和不确定性的X舵AUV的最优鲁棒轨迹跟踪控制
4. Velocity tracking control of AUVs in horizontal motion [C] . Przemys?aw Herman, Wojciech Kowalczyk Conference on Control and Fault-Tolerant Systems . 2016

机译：水平运动中AUV的速度跟踪控制
5. Autonomous underwater vehicles (AUV) sensitivity of motion response to geometric and hydrodynamic parameters and AUV behaviours with control plane faults. [D] . Perrault, Douglas Edward. 2002

机译：自主水下航行器（AUV）对几何和水动力参数以及具有控制平面故障的AUV行为的运动响应的敏感性。
6. Displacement- versus velocity-encoding: tracking regional myocardial motion using MR imaging [O] . Kai Lin, Jeremy Collins, Varun Chowdhary, 2016

机译：位移编码与速度编码：使用MR成像追踪局部心肌运动
7. Curve Tracking Control for Legged Locomotion in Horizontal Plane [O] . Zhang, F. 2007

机译：水平面腿部运动的曲线跟踪控制

Velocity tracking control of AUVs in horizontal motion

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