Name
Title | ||
|---|---|---|
Path following of underactuated autonomous underwater vehicles in the presence of ocean currents. |
Abstract | ||
|---|---|---|
A control strategy allowing underactuated underwater vehicles to accomplish 3D straight line path following tasks in the presence of ocean currents is developed. The ocean current is considered constant, irrotational and acting in any direction of the inertial frame. The control technique is based on a modified three-dimensional Line-of-Sight (LOS) guidance law with two integrators and three feedback controllers. The integral effect is introduced to successfully counteract the drifting caused by the unknown current. The integration laws are chosen to reduce the risk of wind-up effects. Furthermore, due to the irrotational nature of the ocean current, it is seen that the vehicle dynamics can be defined in terms of relative velocities only. This significantly simplifies the control system compared to approaches based on absolute velocities, and as a result no adaption laws are required. Uniform global asymptotic stability and uniform local exponential stability for the closed loop system are proven and explicit bounds on the guidance law parameters are given. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/CDC.2012.6427007 | CDC |
Keywords | Field | DocType |
asymptotic stability,autonomous underwater vehicles,closed loop systems,feedback,path planning,vehicle dynamics,3D straight line path following tasks,closed loop system,constant ocean current,control strategy,control system,explicit bounds,feedback controllers,guidance law parameters,integral effect,integrators,irrotational ocean current,modified three-dimensional LOS law,modified three-dimensional line-of-sight guidance law,underactuated autonomous underwater vehicles,uniform global asymptotic stability,uniform local exponential stability,vehicle dynamics,wind-up effect risk reduction | Conservative vector field,Inertial frame of reference,Computer science,Control theory,Integrator,Vehicle dynamics,Exponential stability,Control system,Underactuation,Underwater | Conference |
ISSN | Citations | PageRank |
0743-1546 | 5 | 0.53 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Walter Caharija | 1 | 33 | 2.40 |
| Kristin Ytterstad Pettersen | 2 | 402 | 42.59 |
| Jan Tommy Gravdahl | 3 | 327 | 43.60 |
| Even Børhaug | 4 | 66 | 7.97 |