원문정보
보안공학연구지원센터(IJUNESST)
International Journal of u- and e- Service, Science and Technology
Vol.9 No.1
2016.01
pp.1-8
피인용수 : 0건 (자료제공 : 네이버학술정보)
초록
영어
It is addressed that the point stabilization of the full-actuated autonomous underwater vehicle (AUV). The system model is established in polar coordinates and the designing methods of kinematic controller are obtained. The polar coordinates are applied to avoid Brockett’s conditions. The kinematic controller is extended to dynamic controller based on Lyapunov methods and backstepping techniques. The controller is designed to ensure that the full-actuated AUV asymptotically converges to the target point. Simulations show the effectiveness of the proposed method.
목차
Abstract
1. Introduction
2. Problem Formulation
2.1 AUV Model
2.2. Coordinate Transformation and Problem Formulation
3. Controller Design
3.1. Kinematic Controller
3.2. Dynamic Controller
4. Simulation Results
5. Conclusions
References
1. Introduction
2. Problem Formulation
2.1 AUV Model
2.2. Coordinate Transformation and Problem Formulation
3. Controller Design
3.1. Kinematic Controller
3.2. Dynamic Controller
4. Simulation Results
5. Conclusions
References
키워드
저자정보
참고문헌
자료제공 : 네이버학술정보