Design and analysis of fully-actuated AUV's three-dimensional path tracking control system
Yao Jinyi, Zeng Qingjun, Qiang Zhao, Zhu Zhiyu, Dai Wenwen · DOAJ (DOAJ: Directory of Open Access Journals) · 2019
[Objectives] In order to meet the requirements of underwater search and rescue,recovery and submarine geomorphology imaging of fully-actuated Autonomous Underwater Vehicle (AUV), the application method of its three-dimensional path tracking control is studied.[Methods] The composition of the self-developed fully-actuated "T-SEA I" AUV was described. The mathematical models of the thruster,horizontal and vertical controls of the AUV were studied and established. A novel intelligent integrated S surface controller of three-dimensional path tracking was designed,and the stability of the system was analyzed. The simulation analysis and lake trial were undertaken.[Results] The results show that the AUV developed in this paper runs reliably. The controller designed can better complete the three-dimensional path tracking task and meet the actual underwater task requirements.[Conclusions] The AUV three-dimensional path tracking controller can be used for reference in the application of fully-actuated AUVs and the path tracking control in other fields.