A 3D trajectory tracking algorithm for AUV

A 3D trajectory tracking algorithm for AUV

This paper mainly studies the trajectory tracking problem of six-degree-of-freedom AUV in seafloor three-dimensional space. The mathematical model of AUV is established, the trajectory guidance law is designed by LOS method, the speed and rudder force are compensated by adding PID controller, and th...

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Veröffentlicht in:Journal of physics. Conference series 2021-04, Vol.1873 (1), p.12055
Hauptverfasser: Li, Wenkui, Zhou, Zhu, Lou, Jianlu, Zhang, Xuguang
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Control stability
Guidance (motion)
Ocean floor
Physics
Proportional integral derivative
Rudders
Stability criteria
Straight lines
Tracking problem
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Beschreibung
Zusammenfassung:This paper mainly studies the trajectory tracking problem of six-degree-of-freedom AUV in seafloor three-dimensional space. The mathematical model of AUV is established, the trajectory guidance law is designed by LOS method, the speed and rudder force are compensated by adding PID controller, and the stability of the system is proved by Lyapunov stability criterion. Taking Remus100 as an example, the trajectory tracking simulation of straight line and helix in space is carried out. The simulation results show that the trajectory tracking algorithm can realize the trajectory tracking of AUV.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1873/1/012055