Journal article
Three-Dimensional Path-Following Control for an Underwater Vehicle
Journal of guidance, control, and dynamics, Vol.44(7), pp.1345-1355
07/2021
DOI: 10.2514/1.G005503
Abstract
This paper addresses the problem of guidance and control of an underwater vehicle. Guidance and control is achieved by introducing a control architecture with three modules: path generation, path following, and vehicle autopilot. This paper provides a formulation for the path-following algorithm, featuring an easily adjustable parameter that affects how aggressively the vehicle converges to a desired path. The framework for the path-following algorithm is built upon the Special Orthogonal Group SO(3) and introduces a path-following variable that allows the position of a target point moving along the desired path to be adjusted according to a specified control law. This paper derives guaranteed performance bounds of the path-following algorithm and considers limits on the vehicle’s angular rates, as well as limited performance of the vehicle autopilot. The resulting convergence properties are demonstrated with simulations using both a simple vehicle model and a vehicle modeled using computational fluid dynamics.
Details
- Title: Subtitle
- Three-Dimensional Path-Following Control for an Underwater Vehicle
- Creators
- Nicholas Rober - University of IowaVenanzio Cichella - University of IowaJ Ezequiel Martin - University of IowaYagin Kim - University of IowaPablo Carrica - University of Iowa
- Resource Type
- Journal article
- Publication Details
- Journal of guidance, control, and dynamics, Vol.44(7), pp.1345-1355
- DOI
- 10.2514/1.G005503
- ISSN
- 1533-3884
- eISSN
- 1533-3884
- Grant note
- DOI: 10.13039/100000006, name: Office of Naval Research, award: N00014-19-1-2106
- Language
- English
- Date published
- 07/2021
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984201439102771
Metrics
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