TY - GEN
T1 - Nonlinear path following control of the underactuated AUV via reduced-order LESOs and NTD
AU - Miao, Jianming
AU - Wang, Shaoping
AU - Zhao, Zhiping
AU - Li, Yuan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/17
Y1 - 2016/11/17
N2 - This paper proposes a novel nonlinear controller for path following control of underactuated autonomous underwater vehicle (AUV) in the horizon plane. In order to overcome the drawback of dependence on the accurate dynamic model that are present in a number of path following control strategies described in the literature, the unknown environmental disturbances and unmodeled dynamics are viewed as lumped uncertainties, and reduced-order linear extended state observers (LESOs) are used to estimate and compensate these uncertainties. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiator (NTD) is employed to construct the derivative of virtual control command. Finally, the effectiveness of the proposed control law is demonstrated through simulations.
AB - This paper proposes a novel nonlinear controller for path following control of underactuated autonomous underwater vehicle (AUV) in the horizon plane. In order to overcome the drawback of dependence on the accurate dynamic model that are present in a number of path following control strategies described in the literature, the unknown environmental disturbances and unmodeled dynamics are viewed as lumped uncertainties, and reduced-order linear extended state observers (LESOs) are used to estimate and compensate these uncertainties. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiator (NTD) is employed to construct the derivative of virtual control command. Finally, the effectiveness of the proposed control law is demonstrated through simulations.
UR - https://www.scopus.com/pages/publications/85006726115
U2 - 10.1109/AUS.2016.7748182
DO - 10.1109/AUS.2016.7748182
M3 - 会议稿件
AN - SCOPUS:85006726115
T3 - AUS 2016 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems
SP - 900
EP - 904
BT - AUS 2016 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems, AUS 2016
Y2 - 10 October 2016 through 12 October 2016
ER -