Title :
Fully coupled 6 degrees-of-freedom control of Autonomous Underwater Vehicles
Author :
Kokegei, Matthew ; He, Fangpo ; Sammut, Karl
Author_Institution :
Sch. of Comput. Sci., Eng. & Math., Flinders Univ., Adelaide, SA
Abstract :
This paper presents the development and simulation results of a fully coupled control system for an autonomous underwater vehicle (AUV). The performance metric used within this paper is the maximum instantaneous cross-track error observed while the AUV is executing a trajectory following exercise under the influence of an ocean current disturbance. Comparisons between the proposed system and an uncoupled system show that the proposed system has advantages such as improved trajectory tracking abilities and reduced actuator usage.
Keywords :
position control; remotely operated vehicles; tracking; underwater vehicles; variable structure systems; autonomous underwater vehicle; coupled control system; cross-track error; degrees-of-freedom; ocean current disturbance; sliding mode control; trajectory tracking; Control system synthesis; Hydrodynamics; Marine vehicles; Oceans; Sea surface; Sliding mode control; Trajectory; Underwater tracking; Underwater vehicles; Vehicle dynamics; 6 DoF coupled control; Autonomous Underwater Vehicle; cross-track error; sliding mode control;
Conference_Titel :
OCEANS 2008
Conference_Location :
Quebec City, QC
Print_ISBN :
978-1-4244-2619-5
Electronic_ISBN :
978-1-4244-2620-1
DOI :
10.1109/OCEANS.2008.5152090
