Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2013.13.9011

A Study on an Integral State Feedback Controller for Way-point Tracking of an AUV  

Bae, Seol B. (Dept. Information and Communications Engineering, Pukyong National University)
Shin, Dong H. (Dept. Information and Communications Engineering, Pukyong National University)
Park, Sang H. (Dept. Electronics Engineering, Pukyong National University)
Joo, Moon G. (Dept. Information and Communications Engineering, Pukyong National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.8, 2013 , pp. 661-666 More about this Journal
Abstract
A state feedback controller with integration of output error is proposed for way-point tracking of an AUV (Autonomous Underwater Vehicle). For the steering control on the XY plane, the proposed controller uses three state variables (sway velocity, yaw rate, heading angle) and the integral of the steering error, and for the depth control on the XZ plane, it uses four state variables (pitch rate, depth, pitch angle) and the integral of the depth error. From the simulation using Matlab/Simulink, we verify that the performance of the proposed controller is satisfactory within an error range of 1m from the target way-point for arbitrarily chosen sets of consecutive way-points.
Keywords
integral state feedback; AUV; way-point tracking; matlab/simulink; line-of-sight;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 R. C. Robinson, "National defense applications of autonomous underwater vehicles," IEEE Journal of Oceanic Engineering, vol. IE-11, no. 4, pp. 462-467, 1986.
2 D. W. Kim, H. J. Lee, and J. N. Sur, "T-S fuzzy model-based waypoints-tracking control of underwater vehicles," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 6, pp. 526-530, 2011.   과학기술학회마을   DOI   ScienceOn
3 S. T. Kwon, W. K. Baek, I. P. Kang, H. S. Choi, and M. G. Joo, "A study on way-point tracking of AUV using state feedback," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 12, pp. 1266-1272, 2011.   과학기술학회마을   DOI   ScienceOn
4 S. T. Kwon, D. H. Shin, W. K. Baek, and M. G. Joo, "Fuzzy controller with state feedback modules for tracking way -points of autonomous underwater vehicle," 15th International Conference on Mechatronics Technology, 2011.
5 P. Newman, World AUV Market Forecast 2012-2016, Douglas Westwood, 2012.
6 M. Nakamura, H. Kajiwara, and W. Koterayama, "Development of an ROV operated both as towed and self-propulsive vehicle," Ocean Engineering, vol. 28, no. 1, pp. 1-43, 2001.   DOI   ScienceOn
7 T. I. Fossen, Guidance and Control of Ocean Vehicles, John Wiley and Sons, 1994.
8 I. Kaminer, A. Pascoal, E. Hallberg, and C. Silvestre, "Trajectory tracking for autonomous vehicles: an integrated approach to guidance and control," Journal Guidance, Control and Dynamics, vol. 21, no. 1, pp. 29-38, 1998.   DOI   ScienceOn
9 S. T. Kwon, D. H. Shin, M. G. Joo, "Way-point tracking of AUV using sliding mode controller," The Journal of Korean Institute of Information Technology (in Korean), vol. 10, no. 10, pp. 17-22, 2012.
10 T. I. Fossen, Marine Control System, Marine Cybernetics, 2002.
11 T. Prestero, "Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle," M. S. thesis, MIT/ WHOI, 2001.
12 K. M Fauske, F. Gustafsson, and O. Hegrenæs, "Estimation of AUV dynamics for sensor fusion," Proc. of the 10th Conference Information Fusion, pp. 1-6, 2007.