A static output feedback control design for path following of autonomous underwater vehicle in vertical plane

OCEAN ENGINEERING

卷:63

Article

Subudhi, Bidyadhar¹  Mukherjee, Koena²  Ghosh, Sandip¹ 

[1] NIT Rourkela, Dept Elect Engn, Odisha 769008, India

[2] IIT Delhi, Dept Elect Engn, Delhi 110016, India

关键词: Autonomous underwater vehicle;    Serret-Frenet frame;    Linearization;    Static output feedback controller;   

DOI  :  10.1016/j.oceaneng.2013.01.029

来源: Elsevier

【 摘 要 】

This paper presents the design of an output feedback controller for an autonomous underwater vehicle to achieve the task of path following in vertical plane. Using vehicle kinematics, a reference frame is generated which provides desired orientation of the vehicle along the path. An error space is then defined using the reference trajectory and thereby linearized. Based on this linearized model, a static output feedback controller is designed and implemented on the nonlinear plant. Computer simulations have been used to verify the controller design. (C) 2013 Elsevier Ltd. All rights reserved.

【 授权许可】

Free