%0 Journal Article
%T 自主水下航行器的变质心跟踪控制
%A 李家旺
%A 宋保维
%A 邵成
%J 自动化学报
%P 1319-1323
%D 2008
%R 10.3724/SP.J.1004.2008.01319
%X ？Thetrajectory-trackingcontrolproblemisinvestigatedforanautonomousunderwatervehicle(AUV)movingintheverticalplaneusinganinternalpointmassandarearthrusterasactuators.Combinedwiththedynamicsofthepointmass,theAUVismodeledasanunderactuatedsystem.ALyapunov-basedtrackingcontrollerisproposedbyusingbacksteppingapproachtostabilizetheerrordynamicsandforcethepositionerrorstoasmallneighborhoodoftheorigin.Simulationresultsvalidatetheproposedtrackingapproach.
%K Autonomousunderwatervehicle(AUV)
%K movingmass
%K underactuatedvehicle
%K trackingcontrol
%U http://www.aas.net.cn/CN/abstract/abstract18006.shtml