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Trajectory Following Control of AUV: A Robust Approach

机译：AUV控制的轨迹跟踪：一种鲁棒的方法

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摘要

A robust control technique based on the second method of Lyapunov is proposed in this paper for accurate trajectory tracking of autonomous underwater vehicles (AUVs). The difficulty in control of AUVs not only resides in the highly non-linear and coupled dynamics but is enhanced by modeling errors, parametric uncertainty and pay load variations depending on application requirements. Environmental hazards such as ocean currents sometimes dominate and render the control of underwater systems more challenging. The proposed control technique addresses the design of a robust controller for AUVs incorporating the effects of the aforementioned uncertain paradigms with known bounds. The controller performance is verified using the real-life parameters of an operational AUV considering a few uncertainties.
机译：提出了一种基于李雅普诺夫第二种方法的鲁棒控制技术，用于自动水下航行器的精确轨迹跟踪。 AUV的控制困难不仅在于高度非线性和耦合的动力学特性，而且还因建模误差，参数不确定性和取决于应用需求的有效载荷变化而加剧。洋流等环境危害有时占主导地位，使水下系统的控制更具挑战性。所提出的控制技术解决了用于AUV的鲁棒控制器的设计，该控制器结合了上述具有已知界限的不确定范式的影响。考虑到一些不确定性，使用可操作AUV的真实参数验证控制器性能。

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  • 来源
  • 作者

    S. Roy; S. N. Shome; S. Nandy; R. Ray; V. Kumar;

  • 作者单位

    CSIR-Central Mechanical Engineering Research Institute,Durgapur 713209, West Bengal, India;

    CSIR-Central Mechanical Engineering Research Institute,Durgapur 713209, West Bengal, India;

    CSIR-Central Mechanical Engineering Research Institute,Durgapur 713209, West Bengal, India;

    CSIR-Central Mechanical Engineering Research Institute,Durgapur 713209, West Bengal, India;

    CSIR-Central Mechanical Engineering Research Institute,Durgapur 713209, West Bengal, India;

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  • 正文语种 eng
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  • 关键词

    AUV; Robust control; Trajectory; Lyapunov second method; AUV-150; Bounded uncertainty;

    机译：水下航行器;鲁棒的控制;弹道;Lyapunov第二种方法;AUV-150;无限的不确定性;

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