A Trajectory Tracking Control Method for a Biomimetic Autonomous Underwater Vehicle
Date Issued
2006
Date
2006
Author(s)
Chen, Po-Hung
DOI
en-US
Abstract
In this thesis, a differentiable, robust tracking controller was developed for a Biomimetic Autonomous Underwater Vehicle (BAUV) to achieve globally uniformly ultimately bounded tracking. It is proved that the position and orientation tracking errors for a BAUV can be made globally asymptotically converged to a neighborhood about zero. In addition, it was illustrated that the proposed tracking controller can also be utilized for the regulation problem to mimic the motion control using pectoral fins. Finally, the kinematic controller was used to develop an adaptive controller for the BAUV with parametric uncertainty in the dynamic model. Simulation results are provided to show the performance of the proposed tracking controller.
Subjects
仿生型自主式水下載具
BAUV
Type
thesis
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