hrcak mascot   Srce   HID

Izvorni znanstveni članak
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

Puni tekst: engleski, pdf (1 MB) str. 829-835 preuzimanja: 441* citiraj
APA 6th Edition
Liang, X., You, Y., Su, L., Li, W. i Zhang, J. (2015). Path following control for underactuated AUV based on feedback gain backstepping. Tehnički vjesnik, 22 (4), 829-835. https://doi.org/10.17559/TV-20150602130833
MLA 8th Edition
Liang, Xiao, et al. "Path following control for underactuated AUV based on feedback gain backstepping." Tehnički vjesnik, vol. 22, br. 4, 2015, str. 829-835. https://doi.org/10.17559/TV-20150602130833. Citirano 08.03.2021.
Chicago 17th Edition
Liang, Xiao, Yuan You, Linfang Su, Wei Li i Jundong Zhang. "Path following control for underactuated AUV based on feedback gain backstepping." Tehnički vjesnik 22, br. 4 (2015): 829-835. https://doi.org/10.17559/TV-20150602130833
Harvard
Liang, X., et al. (2015). 'Path following control for underactuated AUV based on feedback gain backstepping', Tehnički vjesnik, 22(4), str. 829-835. https://doi.org/10.17559/TV-20150602130833
Vancouver
Liang X, You Y, Su L, Li W, Zhang J. Path following control for underactuated AUV based on feedback gain backstepping. Tehnički vjesnik [Internet]. 2015 [pristupljeno 08.03.2021.];22(4):829-835. https://doi.org/10.17559/TV-20150602130833
IEEE
X. Liang, Y. You, L. Su, W. Li i J. Zhang, "Path following control for underactuated AUV based on feedback gain backstepping", Tehnički vjesnik, vol.22, br. 4, str. 829-835, 2015. [Online]. https://doi.org/10.17559/TV-20150602130833
Puni tekst: hrvatski, pdf (1 MB) str. 829-835 preuzimanja: 263* citiraj
APA 6th Edition
Liang, X., You, Y., Su, L., Li, W. i Zhang, J. (2015). Regulator praćenja putanje za potpogonjeni AUV zasnovan na interaktivnom pojačanju povratnog koraka. Tehnički vjesnik, 22 (4), 829-835. https://doi.org/10.17559/TV-20150602130833
MLA 8th Edition
Liang, Xiao, et al. "Regulator praćenja putanje za potpogonjeni AUV zasnovan na interaktivnom pojačanju povratnog koraka." Tehnički vjesnik, vol. 22, br. 4, 2015, str. 829-835. https://doi.org/10.17559/TV-20150602130833. Citirano 08.03.2021.
Chicago 17th Edition
Liang, Xiao, Yuan You, Linfang Su, Wei Li i Jundong Zhang. "Regulator praćenja putanje za potpogonjeni AUV zasnovan na interaktivnom pojačanju povratnog koraka." Tehnički vjesnik 22, br. 4 (2015): 829-835. https://doi.org/10.17559/TV-20150602130833
Harvard
Liang, X., et al. (2015). 'Regulator praćenja putanje za potpogonjeni AUV zasnovan na interaktivnom pojačanju povratnog koraka', Tehnički vjesnik, 22(4), str. 829-835. https://doi.org/10.17559/TV-20150602130833
Vancouver
Liang X, You Y, Su L, Li W, Zhang J. Regulator praćenja putanje za potpogonjeni AUV zasnovan na interaktivnom pojačanju povratnog koraka. Tehnički vjesnik [Internet]. 2015 [pristupljeno 08.03.2021.];22(4):829-835. https://doi.org/10.17559/TV-20150602130833
IEEE
X. Liang, Y. You, L. Su, W. Li i J. Zhang, "Regulator praćenja putanje za potpogonjeni AUV zasnovan na interaktivnom pojačanju povratnog koraka", Tehnički vjesnik, vol.22, br. 4, str. 829-835, 2015. [Online]. https://doi.org/10.17559/TV-20150602130833

Sažetak
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.

Ključne riječi
backstepping; feedback gain; path following control; underactuated AUV

Hrčak ID: 143077

URI
https://hrcak.srce.hr/143077

[hrvatski]

Posjeta: 1.136 *