Adaptive attitude control of Autonomous Underwater Vehicles using back-stepping

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	Adaptive attitude control of Autonomous Underwater Vehicles using back-stepping
	Liu, Yuqian; Che, Jiaxing; Xu HL(徐红丽); Cao, Chengyu
	2015
会议名称	10th ACM International Conference on Underwater Networks and Systems, WUWNet 2015
会议日期	October 22-24, 2015
会议地点	Washington, DC, USA
关键词	Autonomous underwater vehicle (AUV) attitude control back-stepping control
页码	1-2
中文摘要	This paper gives an attitude controller design for an advanced Autonomous Underwater Vehicle (AUV) prototype by using back-stepping control strategy. The advanced AUV design driven by four water pumps has been well presented in previous publications. The nonlinear kinematic and dynamic model has been presented. The dynamic uncertainties from external disturbance and actuator dynamics has been introduced. Since the kinematics and dynamics of attitude problem are in strict feedback form, back-stepping control strategy would be capable of handling this sort of problem. Due to the propulsion method of the vehicle, only two angle channels of attitude are controllable. The self-stability of roll angle channel is ensured by the physical design and validated by the experiment.
收录类别	EI
产权排序	2
会议主办者	Association for Computing Machinery Special Interest Group on Mobility of Systems, Users, Data, and Computing (ACM SIGMOBILE)
会议录	Proceedings of the 10th International Conference on Underwater Networks & Systems
会议录出版者	ACM
会议录出版地	New York, NY, USA
语种	英语
ISBN号	978-1-4503-4036-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18602]
专题	沈阳自动化研究所_海洋信息技术装备中心
推荐引用方式 GB/T 7714	Liu, Yuqian,Che, Jiaxing,Xu HL,et al. Adaptive attitude control of Autonomous Underwater Vehicles using back-stepping[C]. 见:10th ACM International Conference on Underwater Networks and Systems, WUWNet 2015. Washington, DC, USA. October 22-24, 2015.