论文信息 - A new backstepping control design method for autonomous underwater vehicle in diving and steering plane

A new backstepping control design method for autonomous underwater vehicle in diving and steering plane

In this paper a backstepping method has been designed for stabilization and control of an Autonomous Underwater Vehicle (AUV). In order to design the backsteeping controller the equations governing the dynamics of AUV are represented in strict feedback form. A three degree of freedom structure of a prototype AUV is used to verify the diving control problem and steering control problem, to achieve the tracking of desired depth profile and desired yaw orientation profile respectively.

Bidyadhar Subudhi | Alexander Zuev | Vladimir Filaretov | Biranchi Narayan Rath

[1] Bidyadhar Subudhi,et al. Inverse optimal self-tuning PID control design for an autonomous underwater vehicle , 2017, Int. J. Syst. Sci..

[2] Timothy Prestero,et al. Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle , 2001 .

[3] Alexandra Moutinho,et al. Hover Control of an UAV With Backstepping Design Including Input Saturations , 2008, IEEE Transactions on Control Systems Technology.

[4] D. Mayne. Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[5] Changyun Wen,et al. Adaptive Backstepping Control of Uncertain Systems: Nonsmooth Nonlinearities, Interactions or Time-Variations , 2008 .

[6] Mihai Lungu,et al. Adaptive backstepping flight control for a mini‐UAV , 2013 .

[7] Manu Sharma,et al. Flight-Path Angle Control via Neuro-Adaptive Backstepping , 2002 .

[8] H.R. Pota,et al. Velocity Control of a UAV using Backstepping Control , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[9] Thor I. Fossen,et al. Guidance and control of ocean vehicles , 1994 .