Three-Dimensional Path-Following Control for an Underwater Vehicle

This paper addresses the problem of guidance and control of an underwater vehicle. Guidance and control is achieved by introducing a control architecture with three modules: path generation, path following, and vehicle autopilot. This paper provides a formulation for the path-following algorithm, fe...

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Bibliographic Details
Published in:Journal of guidance, control, and dynamics control, and dynamics, 2021-07, Vol.44 (7), p.1345-1355
Main Authors: Rober, Nicholas, Cichella, Venanzio, Ezequiel Martin, J., Kim, Yagin, Carrica, Pablo
Format: Article
Language:English
Subjects:
Algorithms
Automatic pilots
Computational fluid dynamics
Control theory
Convergence
Trajectory planning
Underwater vehicles
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Summary:This paper addresses the problem of guidance and control of an underwater vehicle. Guidance and control is achieved by introducing a control architecture with three modules: path generation, path following, and vehicle autopilot. This paper provides a formulation for the path-following algorithm, featuring an easily adjustable parameter that affects how aggressively the vehicle converges to a desired path. The framework for the path-following algorithm is built upon the Special Orthogonal Group SO(3) and introduces a path-following variable that allows the position of a target point moving along the desired path to be adjusted according to a specified control law. This paper derives guaranteed performance bounds of the path-following algorithm and considers limits on the vehicle’s angular rates, as well as limited performance of the vehicle autopilot. The resulting convergence properties are demonstrated with simulations using both a simple vehicle model and a vehicle modeled using computational fluid dynamics.
ISSN:1533-3884
0731-5090
1533-3884
DOI:10.2514/1.G005503