{"title":"Backstepping adaptive docking control for a full-actuated autonomous underwater vehicle with onboard USBL system","authors":"Jian Gao, Changxin Liu, Yingxiang Wang","doi":"10.1109/OCEANS.2014.7002984","DOIUrl":null,"url":null,"abstract":"The acoustic docking control problem is investigated for the fully-actuated autonomous underwater vehicle (AUV) equipped with the USBL transceiver, which provides the positions of the two transponders on the dock station. Similar to the image-based visual servo control technology, the dynamics of the transponders' positions is modeled with the AUV's linear and angular velocities as the control inputs. The docking control errors are defined with the coordinates of the transponders in the local body-fixed frame. The backstepping based adaptive control is utilized to ensure the docking errors to be asymptotically stable with feedback control and adaptation laws. The performances of the proposed docking control are examined by the simulation studies.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 Oceans - St. John's","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS.2014.7002984","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
The acoustic docking control problem is investigated for the fully-actuated autonomous underwater vehicle (AUV) equipped with the USBL transceiver, which provides the positions of the two transponders on the dock station. Similar to the image-based visual servo control technology, the dynamics of the transponders' positions is modeled with the AUV's linear and angular velocities as the control inputs. The docking control errors are defined with the coordinates of the transponders in the local body-fixed frame. The backstepping based adaptive control is utilized to ensure the docking errors to be asymptotically stable with feedback control and adaptation laws. The performances of the proposed docking control are examined by the simulation studies.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
