The trajectory-tracking control problem is inves-tigated for an autonomous underwater vehicle(AUV)moving in the vertical plane using an internal point mass and a rear thruster as actuators.Combined with the dynamics o...The trajectory-tracking control problem is inves-tigated for an autonomous underwater vehicle(AUV)moving in the vertical plane using an internal point mass and a rear thruster as actuators.Combined with the dynamics of the point mass,the AUV is modeled as an underactuated system.A Lyapunov-based tracking controller is proposed by using backstepping approach to stabilize the error dynamics and force the position errors to a small neighborhood of the origin.Simulation results validate the proposed tracking approach.展开更多
文摘The trajectory-tracking control problem is inves-tigated for an autonomous underwater vehicle(AUV)moving in the vertical plane using an internal point mass and a rear thruster as actuators.Combined with the dynamics of the point mass,the AUV is modeled as an underactuated system.A Lyapunov-based tracking controller is proposed by using backstepping approach to stabilize the error dynamics and force the position errors to a small neighborhood of the origin.Simulation results validate the proposed tracking approach.
