Nonlinear path following control of autonomous underwater vehicles: Under-actuated and fully-actuated cases

This paper addresses the problem of nonlinear path following control of fully-actuated and under-actuated autonomous underwater vehicles. The similarity and difference of control designs on these two kinds of vehicles are analyzed, Where the side-slip angle is critical in dynamics evolving for both...

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Bibliographic Details
Main Authors: Xianbo Xiang, Jinrong Zheng, Caoyang Yu, Guohua Xu
Format: Conference Proceeding
Language:English
Subjects:
AUV
Control design
Force
Full actuation
Mobile robots
Path following
Surges
Torque
Under actuation
Vehicle dynamics
Vehicles
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Summary:This paper addresses the problem of nonlinear path following control of fully-actuated and under-actuated autonomous underwater vehicles. The similarity and difference of control designs on these two kinds of vehicles are analyzed, Where the side-slip angle is critical in dynamics evolving for both under-actuated and fully-actuated AUVs, which makes the difference in path following control design. As a result, the nonlinear controller for each type of AUV is proposed, and the inherent characteristics of under actuation and full actuation are revealed through numerical simulations.
ISSN:2161-2927
DOI:10.1109/ChiCC.2014.6896338