3D track-keeping method for autonomous underwater vehicle

Autor:	Xinqian Bian, Wei Wang, Zong-Hu Chang
Rok vydání:	2002
Předmět:	Heading (navigation) Engineering business.industry Mechanical Engineering Ocean Engineering Vertical plane Horizontal plane Track (rail transport) Sliding mode control law.invention Nonlinear system Waypoint Control theory law Autopilot business Simulation
Zdroj:	Journal of Marine Science and Application. 1:18-22
ISSN:	1993-5048 1671-9433
DOI:	10.1007/bf02935833
Popis:	In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::b51cf93c32e61159e069b61040d27075 https://doi.org/10.1007/bf02935833 Zobrazit plný text záznamu Full text from SpringerLink