IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/6624893.html
   My bibliography  Save this article

Composite Curve Path following an Underactuated AUV

Author

Listed:
  • Ben Li
  • Guohua Xu
  • Yingkai Xia
  • Wenjin Wang
  • Zhen Su

Abstract

This paper addresses the problem of composite curve path following for an underactuated autonomous underwater vehicle by utilizing an adaptive integral line-of-sight (AILOS) guidance and nonlinear iterative sliding mode (NISM) controller. First, the composite curve path is parametrized by a common scalar variable in a continuous way. Then, the kinematics error of an underactuated vehicle is described based on the nonprojection Frenet–Serret frame with a virtual point, which can be eliminated by the virtual point control and AILOS guidance. Meanwhile, the subpath switching algorithm is studied to realize the global path following for the composite curve path. Besides, the NISM controller is cascaded with the AILOS guidance law, and the cascade structure proved to be globally - exponentially stable under the influence of slow time-varying currents. Finally, simulations are considered to demonstrate the effectiveness of the proposed composite curve path following control scheme.

Suggested Citation

  • Ben Li & Guohua Xu & Yingkai Xia & Wenjin Wang & Zhen Su, 2021. "Composite Curve Path following an Underactuated AUV," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-18, April.
    • Handle: RePEc:hin:jnlmpe:6624893
    DOI: 10.1155/2021/6624893
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2021/6624893.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2021/6624893.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2021/6624893?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:6624893. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.