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

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Haichen, Sui^1,2 ; Ziye, Zhou^3 ; Yanqing, Jiang^3 ; Lintao, Cui^3 ; Ye, Li^3

Tianjin Research Institute for Water Transport Engineering, M.O.T., Tianjin

300456, China^1

Tianjin Key Laboratory of Surveying and Mapping for Water Transport Engineering, Tianjin Survey and Design Institute for Water Transport Engineering, Tianjin

300456, China^2

Science and Technology on Underwater Vehicle Laboratory, College of Shipbuilding Engineering, Harbin Engineering University, 150001, China^3

关键词: AUV (autonomous underwater vehicle);    Control methods;    Heading controller;    Path tracking control;    S plane control;    Satisfactory control;    Speed controller;    Underwater robots;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012059/pdf
DOI  :  10.1088/1757-899X/428/1/012059

来源: IOP

【 摘 要 】

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.