Original scientific paper

https://doi.org/10.17559/TV-20150602130833

Path following control for underactuated AUV based on feedback gain backstepping

Xiao Liang ; Dalian Maritime University, College of Traffic Equipment and Ocean Engineering, 1 Linghai Road, 116024 Dalian, China
Yuan You ; Dalian Maritime University, College of Traffic Equipment and Ocean Engineering, 1 Linghai Road, 116024 Dalian, China
Linfang Su ; Dalian Maritime University, College of Traffic Equipment and Ocean Engineering, 1 Linghai Road, 116024 Dalian, China
Wei Li ; Dalian Maritime University, College of Traffic Equipment and Ocean Engineering, 1 Linghai Road, 116024 Dalian, China
Jundong Zhang ; Dalian Maritime University, College of Marine Engineering, Lingshui Rd, Ganjingzi, 116024 Dalian, Liaoning, China

Abstract

In order to achieve path following control for the underactuated AUV in the horizontal plane, we propose that the tracking error equations are established based on virtual target and a novel backstepping method is designed based on Lyapunov stability theorem and feedback gain technique. The nonlinear terms in the error dynamic model can be compensated by adjusting feedback gain of the controller, which can avoid the high-order derivative of the virtual control variable in common backstepping and reduce the complexity of controller and improve adjustability of the controller parameters. Finally, simulation experiments are carried out on WL-II under actuated AUV. The results show that the controller can follow the expected horizontal path precisely, and has theoretical and practical value.

Keywords

backstepping; feedback gain; path following control; underactuated AUV

Hrčak ID:

143077

URI

https://hrcak.srce.hr/143077

Publication date:

8.8.2015.

Article data in other languages: croatian

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