Three-Dimensional Path-Following Control for an Underwater Vehicle

作     者：Rober, Nicholas Cichella, Venanzio Martin, J. Ezequiel Kim, Yagin Carrica, Pablo 

作者机构：Univ Iowa Dept Mech Engn 3100 Seamans Ctr Room 2132 Iowa City IA 52242 USA Univ Iowa IIHR Hydrosci & Engn 100 C Maxwell Stanley Hydraul Lab Iowa City IA 52242 USA Univ Iowa Maxwell Stanley Hydraul Lab Mech Engn Dept Iowa City IA 52242 USA Univ Iowa Mech Engn Dept 223D Maxwell Stanley Hydraul Lab Iowa City IA 52242 USA 

出 版 物：《JOURNAL OF GUIDANCE CONTROL AND DYNAMICS》 (制导、控制和动力学杂志)

年 卷 期：2021年第44卷第7期

页      面：1345-1355页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0804[工学-仪器科学与技术] 0825[工学-航空宇航科学与技术] 

基　　金：Office of Naval Research [N00014-19-1-2106] 

主　　题：Autopilot CFD Simulation Control Surfaces Reynolds Averaged Navier Stokes Unmanned Aerial Vehicle Motion Planning Boundary Layer Transition Angle of Attack Pitching Moment Track Algorithm 

摘      要：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.