%0 Journal Article
%T Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle<br>水下机器人高度信息融合与欠驱动地形跟踪控制
%A LI Yue-ming
%A WAN Lei
%A SUN Yu-shan
%A ZHANG Guo-cheng
%A <br>李岳明
%A 万磊
%A 孙玉山
%A 张国成
%J 控制理论与应用
%D 2013
%I 
%X A bottom-following control problem is studied for an underactuated autonomous underwater vehicle (AUV) with an altimeter and a doppler velocity log (DVL). The Takagi-Sugeno decision approach fuses the altitude information from altimeter and DVL, which improves the altitude information perception capacity of AUV. The bottom-following control is discomposed into forward speed control and depth ontrol. The forward speed controller and the underactuated depth controller are solved by the S-plane control method and the backstepping method, respectively. The proposed method is tested in a real sea trial; the result shows that the method is feasible and effective.
%K autonomous underwater vehicle
%K bottom-following
%K backstepping
%K S-plane control<br>水下机器人
%K 地形跟踪
%K 反步法
%K S面控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=2DB3B6D3544EDEBD953709C97928AF1A&yid=FF7AA908D58E97FA&vid=340AC2BF8E7AB4FD&iid=CA4FD0336C81A37A&sid=7F5DDA4924737DF5&eid=B62E0EEFE746E568&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0