TY - JOUR
T1 - Applying cascaded systems theory to ensuring globally uniformly asymptotical stability of trajectory tracking controller of underactuated autonomous underwater vehicle (AUV)
AU - Gao, Jian
AU - Xu, Demin
AU - Yan, Weisheng
AU - Liu, Mingyong
AU - Zhang, Fubin
PY - 2010/6
Y1 - 2010/6
N2 - Sections 1 and 2 of the full paper explain how we apply the cascaded systems theory. Their core is: ″the tracking error system is divided into two subsystems (the position error and the orientation error), then we design the controllers for the two subsystems independently. Next we use the backstepping method to obtain the globally uniformly asymptotical stability of the trajectory tracking controller, and derive the sufficient conditions of the control parameters to ensure the AUV to track a reference AUV with constant yaw rate.″ Section 3 simulates the trajectory tracking controller designed by us. The simulation results, given in Figs. 1, 2 and 3, and their analysis demonstrate preliminarily that the tracking errors of our trajectory tracking controller can converge to zero asymptotically; thus it is effective for controlling the underactuated AUV to track the desired trajectory.
AB - Sections 1 and 2 of the full paper explain how we apply the cascaded systems theory. Their core is: ″the tracking error system is divided into two subsystems (the position error and the orientation error), then we design the controllers for the two subsystems independently. Next we use the backstepping method to obtain the globally uniformly asymptotical stability of the trajectory tracking controller, and derive the sufficient conditions of the control parameters to ensure the AUV to track a reference AUV with constant yaw rate.″ Section 3 simulates the trajectory tracking controller designed by us. The simulation results, given in Figs. 1, 2 and 3, and their analysis demonstrate preliminarily that the tracking errors of our trajectory tracking controller can converge to zero asymptotically; thus it is effective for controlling the underactuated AUV to track the desired trajectory.
KW - Autonomous underwater vehicles
KW - Cascaded systems theory
KW - Control
KW - Stability
KW - Trajectory tracking control
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=77956861944&partnerID=8YFLogxK
M3 - 文章
AN - SCOPUS:77956861944
SN - 1000-2758
VL - 28
SP - 404
EP - 408
JO - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
JF - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
IS - 3
ER -