{"title":"存在海流扰动的水下航行器自适应位置姿态跟踪","authors":"P. Haghi, M. Naraghi, A. S. Vanini","doi":"10.1109/CCA.2007.4389321","DOIUrl":null,"url":null,"abstract":"The problem of tracking the position and attitude of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account, saturation of rudders is examined, and a condition under which saturation will not occur is derived by simulation studies. The effectiveness of the adaptive controller is compared with a feedback linearization approach.","PeriodicalId":176828,"journal":{"name":"2007 IEEE International Conference on Control Applications","volume":"71 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"Adaptive Position and Attitude Tracking of an AUV in the Presence of Ocean Current Disturbances\",\"authors\":\"P. Haghi, M. Naraghi, A. S. Vanini\",\"doi\":\"10.1109/CCA.2007.4389321\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The problem of tracking the position and attitude of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account, saturation of rudders is examined, and a condition under which saturation will not occur is derived by simulation studies. The effectiveness of the adaptive controller is compared with a feedback linearization approach.\",\"PeriodicalId\":176828,\"journal\":{\"name\":\"2007 IEEE International Conference on Control Applications\",\"volume\":\"71 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-11-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 IEEE International Conference on Control Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.2007.4389321\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE International Conference on Control Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.2007.4389321","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive Position and Attitude Tracking of an AUV in the Presence of Ocean Current Disturbances
The problem of tracking the position and attitude of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account, saturation of rudders is examined, and a condition under which saturation will not occur is derived by simulation studies. The effectiveness of the adaptive controller is compared with a feedback linearization approach.
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