کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5026164 1369861 2016 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Planar path-following tracking control for an autonomous underwater vehicle in the horizontal plane
ترجمه فارسی عنوان
کنترل ردیابی مسیر مسیری مسطح برای یک وسیله نقلیه زیر آب در سطح افقی
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی (عمومی)
چکیده انگلیسی
The combined problems of path-following tracking control for an under-actuated autonomous underwater vehicle (AUV) on the horizontal plane are addressed in this paper. Given three types of smooth and 2-D desired trajectory including straight line path, curve path and circular path in the horizontal plane, the designed path-following control algorithm uses AUV kinematic and dynamic models with cross-track error method and line of sight to compute the desired orientation and velocities, at the same time it also forces the AUV to tracking the desired three types of path which are specified in advance. Numerical simulation is presented to validate the proposed control approach. Simulation results illustrate the good performance of the control system proposed with tracking errors converge to zero fast and smoothly in exponential form at last, which show that the tracking effect remains good and satisfactory that can provide an effective theoretical guidance and technical support for the control system design of the AUV in future.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Optik - International Journal for Light and Electron Optics - Volume 127, Issue 24, December 2016, Pages 11607-11616
نویسندگان
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