Name
Title | ||
|---|---|---|
Design Of A Dead Reckoning Based Motion Control System For Small Autonomous Underwater Vehicle |
Abstract | ||
|---|---|---|
In this paper, the problem of motion control for small autonomous underwater vehicle (SAUV) is addressed. Firstly, for the position detection problem of SAUV underwater sailing, the dead reckoning method based on Doppler Velocity Log (DVL), compass and depth gauge is proposed. Then, aiming at the problem of controller designing for SAUV trajectory tracking, the segmented control strategy combining PD-sliding mode control with traditional PID control is proposed. And then, the angle priority thrust allocation method is introduced. Finally, the pool experiments are carried out to verify the effectiveness of the proposed method. |
Year | Venue | Field |
|---|---|---|
2015 | 2015 IEEE 28TH CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (CCECE) | Motion control,Control theory,Compass,PID controller,Computer science,Control theory,Control engineering,Dead reckoning,Trajectory,Underwater,Sliding mode control |
DocType | ISSN | Citations |
Conference | 0840-7789 | 0 |
PageRank | References | Authors |
0.34 | 3 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhenzhong Chu | 1 | 5 | 4.06 |
| Daqi Zhu | 2 | 25 | 5.09 |
| Bing Sun | 3 | 82 | 11.44 |
| Jianduo Nie | 4 | 0 | 0.34 |
| Di Xue | 5 | 0 | 0.34 |