Research on Motion Control of AUV with Hybrid Actuators

DOI

10.2991/icsem.2013.52How to use a DOI?

Keywords

autonomous underwater vehicle, hybrid actuators, motion control, stability

Abstract

A switch function is presented to smooth control instructions and avoid system vibration during switch operating underwater vehicles with hybrid actuators. And a Modified S-plane Controller (MSC) is proposed by analyzing underwater vehicle’s dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account. Besides the advantages of S controller such as simple structure, MSC can solve the motion control of underwater vehicle at high speed which is difficult to control with S-plane controller. The stability of MSC is analyzed with Lyapunov function. Finally, MSC is applied to the motion control of an autonomous underwater vehicle controlled by rudders and thrusters. The feasibility of MSC is demonstrated by the results of velocity control, yaw control and depth control tests.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lei Zhang
AU  - Da-peng Jiang
AU  - Shu-ling Huang
AU  - Jin-xin Zhao
PY  - 2013/04
DA  - 2013/04
TI  - Research on Motion Control of AUV with Hybrid Actuators
BT  - Proceedings of the 2nd International Conference On Systems Engineering and Modeling (ICSEM 2013)
PB  - Atlantis Press
SP  - 269
EP  - 275
SN  - 1951-6851
UR  - https://doi.org/10.2991/icsem.2013.52
DO  - 10.2991/icsem.2013.52
ID  - Zhang2013/04
ER  -