A Lateral Error S-Plane Control for Path Tracking on Autonomous Underwater Vehicle

Content Provider	Scilit
Author	Haichen, Sui Ziye, Zhou Yanqing, Jiang Lintao, Cui Ye, Li
Copyright Year	2018
Description	Journal: Iop Conference Series: Materials Science and Engineering This research aims at the motion control on a certain torpedo-type underactuated AUV (Autonomous Underwater Vehicle), using the S (Sigmoid) plane control method to build the heading controller and speed controller, and analyzes the stability of them, then establishes a linear path tracking control system in horizontal plane. In order to improve the performance of the path tracking controller under a large initial disturbance, an asymptotic controller of the heading error is proposed. And to solve the curve path tracking, a curve path tracking controller with a feedforward control idea is proposed. The simulation shows that these two improved controllers have a satisfactory control effects and effectively improved the performance of underwater robot motion control.
Related Links	http://iopscience.iop.org/article/10.1088/1757-899X/428/1/012059/pdf
ISSN	17578981
e-ISSN	1757899X
DOI	10.1088/1757-899x/428/1/012059
Journal	Iop Conference Series: Materials Science and Engineering
Issue Number	1
Volume Number	428
Language	English
Publisher	IOP Publishing
Publisher Date	2018-10-01
Access Restriction	Open
Subject Keyword	Journal: Iop Conference Series: Materials Science and Engineering Marine Engineering Path Tracking Controller
Content Type	Text
Resource Type	Article