A model-based kinematic guidance method for control of underactuated autonomous underwater vehicles

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-08-31 DOI:10.1016/j.conengprac.2024.106068

Loïck Degorre , Thor I. Fossen , Olivier Chocron , Emmanuel Delaleau

引用次数: 0

Abstract

In this work, a novel guidance principle for underactuated autonomous underwater vehicles is introduced. This new method relies on the kinematic coupling between non-actuated and actuated degrees of freedom. It uses a newly introduced matrix called the Handy Matrix denoted $H$ . The method allows reassigning unused degrees of freedom of the task to useful non-actuated DOF. The algorithm and design rules leading to the construction of $H$ are also provided. Two different solutions based on matrix $H$ are compared on a standard seabed scanning task.

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基于模型的运动学制导方法，用于控制欠驱动自主潜水器

在这项工作中，介绍了一种用于欠驱动自主水下航行器的新型制导原理。这种新方法依赖于非驱动自由度和驱动自由度之间的运动耦合。该方法允许将任务中未使用的自由度重新分配给有用的非驱动自由度。此外，还提供了构建 H 的算法和设计规则。基于矩阵 H 的两种不同解决方案在标准海底扫描任务中进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.