Path-Following in 3D for Underactuated AUV in the Presence of Ocean Current

Xia, Guoqing; Yang, Ying; Zhao, Weiguang

doi:10.1109/icmtma.2013.196

Cited by 4 publications

(4 citation statements)

References 7 publications

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“…where z 1 , z 2 are the corresponding states ofω, d , and l 1 , l 2 are positive constants. Insert Equation (14) into (18), and the Laplace transform of LESO is…”

Section: Leso Designmentioning

confidence: 99%

Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle

Wang

Zhao

et al. 2018

Applied Sciences

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This paper proposes a Negative-buoyancy Quad Tilt-rotor Autonomous Underwater Vehicle (NQTAUV), for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme. First, the structure of NQTAUV is illustrated, a mathematical model based on the Rodrigues parameters is proposed, and the attitude-tracking error model is derived. To simplify the disturbance-observer design procedure, a disturbance observer with a single parameter was designed to estimate the disturbance torque acting on the vehicle. The controller was designed to track the target attitude, and the stability of the whole system is analyzed. Finally, the performance of the proposed method was validated by three experiments. The primary benefit of the proposed method is the simplicity of its tuning and implementation.

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“…where z 1 , z 2 are the corresponding states ofω, d , and l 1 , l 2 are positive constants. Insert Equation (14) into (18), and the Laplace transform of LESO is…”

Section: Leso Designmentioning

confidence: 99%

Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle

Wang

Zhao

et al. 2018

Applied Sciences

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show abstract

“…where p n ∈ R 3 is the UAV's inertial position, v b ∈ R 3 is the UAV's body frame velocity, q n,b ∈H is the quaternion expressing the attitude of the UAV, ω b n,b ∈ R 3 is the UAV's angular velocity relative to F n expressed in F b , ω b c ∈ R 3 is the commanded angular velocity to be defined later and k ω ∈ R + is some constant gain used in (6) to mimic the behaviour of a low-level auto-pilot. The UAV is assumed to have an actuator that generates thrust in the body's x-axis only and that the body frame velocity lies entirely along the body's x-axis.…”

Section: Modelingmentioning

confidence: 99%

“…It was also shown how 3D path-following can be divided into a horizontal plane and a vertical plane, effectively reducing the 3D path following problem into two 2D path following problems. This approach for solving the 3D path-following problem has been widely used in literature, for instance in [5], [6] where LOS guidance is incorporating into the dynamics of the vehicles. There has also been considerable research on disturbance rejection for LOS-guidance for instance [7], [8] and references therein.…”

Section: Introductionmentioning

confidence: 99%

Path-following in three dimensions using quaternions for a fixed-wing UAV

Andersen

Kristiansen

2017

2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)

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This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model for a fixed-wing UAV with a simple kinematic controller. Simulations are provided to show the potential of this approach.

show abstract

“…It was also shown how 3D path-following can be divided into a horizontal plane and a vertical plane, effectively reducing the 3D path following problem into two 2D path following problems. This approach for solving the 3D path-following problem has been widely used in literature, for instance in [5], [6] where LOS guidance is incorporated into the dynamics of the vehicles. There has also been considerable research on disturbance rejection for LOS-guidance cf.…”

Section: Introductionmentioning

confidence: 99%