Controlador ILOS para el seguimiento de caminos en línea recta de un vehículo autónomo subacuático

Ingeniería Electrónica, Automática y Comunicaciones

Hernández Santana, Luis¹  Hernández-Julián, Anailys¹  Valeriano-Medina, Yunier¹ 

关键词: AUV;    guidance;    controller ILOS;    lookahead.;   

DOI  :  

来源: Instituto Superior Politecnico "Jose Antonio Echeverria"

【 摘 要 】

Autonomous underwater vehicles (AUV) represents a topic of great interest to the scientific community worldwide. The guidance system is vital for the development of tasks without human intervention. In this research is designed a type PI controller for tracking paths straight from the HRC-AUV (vehicle used in this research), reducing the tracking error perpendicular to the path despite the effect of sea disturbances. The adjustment of gains of the controller is made based on the geometry of the way forward and the characteristics of the vehicle. The validity of the proposal is found through simulation, which is confirmed that the controller ILOS performance exceeds that of the strategy is implemented at present in the vehicle.

【 授权许可】

Unknown