Research on Motion Control of AUV with Hybrid Actuators

Lei Zhang; Da Peng Jiang; Shu Ling Huang; Jin Xin Zhao

doi:10.4028/www.scientific.net/AMM.341-342.906

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 341-342Research on Motion Control of AUV with Hybrid...

Research on Motion Control of AUV with Hybrid Actuators

Abstract:

A switch function is presented to smooth control instructions and avoid system vibration during switch operating underwater vehicles with hybrid actuators. And a Modified S-plane Controller (MSC) is proposed by analyzing underwater vehicles dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account. Besides the advantages of S controller such as simple structure, MSC can solve the motion control of underwater vehicle at high speed which is difficult to control with S-plane controller. The stability of MSC is analyzed with Lyapunov function. Finally, MSC is applied to the motion control of an autonomous underwater vehicle controlled by rudders and thrusters. The feasibility of MSC is demonstrated by the results of velocity control, yaw control and depth control tests.

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Periodical:

Applied Mechanics and Materials (Volumes 341-342)

Pages:

906-912

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.341-342.906

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Online since:

July 2013

Authors:

Lei Zhang, Da Peng Jiang, Shu Ling Huang, Jin Xin Zhao

Keywords:

Autonomous Underwater Vehicle (AUV), Hybrid Actuators, Motion Control, Stability

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References

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