四倾推进器微型潜艇:姿态建模与控制

2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP) Pub Date : 2010-04-01 DOI:10.1109/CONIELECOMP.2010.5440791

R. López-Gutíerrez, I. Torres, J. Escareño, S. Salazar, A. Palomino

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引用次数: 7

摘要

本文介绍了一种四倾推进器微型自主水下航行器的设计、建模和控制。采用欧拉-拉格朗日公式推导了车辆的详细动力学模型。我们解决了飞行器姿态的稳定以执行操纵任务。为此，我们采用了基于饱和的控制算法。实验成功地实现了自主姿态控制，验证了所提出的车辆以及嵌入式控制系统的有效性。

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Quad-tilting thrusters micro submarine: Modeling and control of the attitude

In this paper we present the design, modeling and control of a quad tilting thruster Micro Autonomous Underwater Vehicle (MicroAUV). The detailed dynamic model of the vehicle is deduced via the Euler-Lagrange formulation. We address the stabilization of the attitude of the vehicle to perform manipulation tasks. For this purpose, we have employed a saturated-based control algorithm. Experimental autonomous attitude control was successfully achieved, validating the proposed vehicle as well as the embedded control system.

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2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP)

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