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自动化学报 2008
自主水下航行器的变质心跟踪控制DOI: 10.3724/SP.J.1004.2008.01319, PP. 1319-1323 Keywords: Autonomousunderwatervehicle(AUV),movingmass,underactuatedvehicle,trackingcontrol Abstract: ？Thetrajectory-trackingcontrolproblemisinvestigatedforanautonomousunderwatervehicle(AUV)movingintheverticalplaneusinganinternalpointmassandarearthrusterasactuators.Combinedwiththedynamicsofthepointmass,theAUVismodeledasanunderactuatedsystem.ALyapunov-basedtrackingcontrollerisproposedbyusingbacksteppingapproachtostabilizetheerrordynamicsandforcethepositionerrorstoasmallneighborhoodoftheorigin.Simulationresultsvalidatetheproposedtrackingapproach.
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