Abstract
This research aims at the motion control on a certain torpedo-type underactuated AUV (Autonomous Underwater Vehicle), using the S (Sigmoid) plane control method to build the heading controller and speed controller, and analyzes the stability of them, then establishes a linear path tracking control system in horizontal plane. In order to improve the performance of the path tracking controller under a large initial disturbance, an asymptotic controller of the heading error is proposed. And to solve the curve path tracking, a curve path tracking controller with a feedforward control idea is proposed. The simulation shows that these two improved controllers have a satisfactory control effects and effectively improved the performance of underwater robot motion control.
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