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CSME 2018/06
Volume 39 No.3
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319-328
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Nonlinear Guidance Law Design of Autonomous Underwater Vehicles
Yung-Yue Chena and Ching-Ta Lub
aDepartment of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan, Taiwan 701, ROC.
bDepartment of Information Communication, Asia University, Taichung, Taiwan.
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Abstract:
One novel nonlinear guidance law for guiding autonomous underwater vehicles ( AUV s to track desired waypoints in three dimensional (3D) space with a nonlinear proportional derivative (PD) control structure is developed in this investigation . This approach can be applied to generate optimal control commands for AUV s operating in ocean environment. The design objective of this investigation is to develop a nonlinear guidance law which guarantee s the stability and convergence of tracking errors in positions and attitudes with respect to the highly coupled AUV’s dynamics and kinematics. In general, it is really a difficult mission to treat this nonlinear waypoint tracking problem of AUV s due to the high nonlinearity and the time varying property of the controlled AUV s dynamics Fortunately, because of the coordinate transformation a nd selection of the control gain , the mentioned nonlinear waypoint tracking problem of AUVs can be effectively solved, and a promising waypoint tracking capability can be obtained for AUVs.
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Keywords: Autonomous underwater vehicle (AUV), nonlinear guidance law, waypoint-tracking design, 3D space, six degrees of freedom (6 DOF).
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*Corresponding author; e-mail:
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©
2018
CSME , ISSN 0257-9731
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