| 3D Track-keeping Method for Autonomous Underwater Vehicle |
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| 作者姓名： | WANG Wei Bian Xin-Qian Chang Zong-HuCollege of Power and Nuclear Engineering Harbin Engineering University Harbin China |
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| 作者单位： | WANG Wei，Bian Xin-Qian，Chang Zong-HuCollege of Power and Nuclear Engineering，Harbin Engineering University，Harbin 150001，China |
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| 摘 要： | In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.
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3D track-keeping method for autonomous underwater vehicle |
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| WANG Wei,Bian Xin-Qian,Chang Zong-HuCollege of Power and Nuclear Engineering,Harbin Engineering University,Harbin ,China.3D Track-keeping Method for Autonomous Underwater Vehicle[J].Journal of Marine Science and Application,2002,1(2):18-22. |
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| Authors: | Wei Wang Xin-Qian Bian Zong-Hu Chang |
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| Institution: | (1) College of Power and Nuclear Engineering, Harbin Engineering University, 150001 Harbin, China |
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| Abstract: | In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically. |
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| Keywords: | AUV sliding mode control 3D track -keeping |
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