NDLI: Control of fully actuated UUV using a linear interpolation approach

Content Provider	IEEE Xplore Digital Library
Author	Xu Jian Wang Man Qiao Lei
Copyright Year	2014
Description	Author affiliation: Dept. of Autom., Harbin Eng. Univ., Harbin, China (Xu Jian; Wang Man; Qiao Lei)
Abstract	This work addresses the problem of tracking a desired trajectory for fully actuated unmanned underwater vehicles (UUVs). A trajectory tracking controller designed originally for mobile robotic systems is applied for the control of fully actuated UUV by a linear interpolation based methodology. Particularly, a typical nonlinear multivariable system-an UUV-is represented and analyzed directly without a coordinate transformation. The methodology is conceptually simple and the calculation of the control actions for an optimal operation of the system is easy to implement by solving a system of linear equations. The proofs of convergence to zero of the tracking errors are achieved here and simulations for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. Simulation results demonstrate the effectiveness of the methodology and the good performance of the proposed controller.
Starting Page	2058
Ending Page	2063
File Size	171619
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896947
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Interpolation Simulation nonlinear multivariable system Unmanned underwater vehicle Trajectory Mathematical model Equations Underwater vehicles Vehicles trajectory tracking linear interpolation
Content Type	Text
Resource Type	Article

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