基本信息:
- 专利标题: 基于迭代的自主水下航行器三维曲线路径跟踪控制方法
- 专利标题(英):AUV (autonomous underwater vehicle) three-dimension curve path tracking control method based on iteration
- 申请号:CN201210211449.3 申请日:2012-06-26
- 公开(公告)号:CN102768539A 公开(公告)日:2012-11-07
- 发明人: 王宏健 , 陈子印 , 于乐 , 陈兴华 , 吕洪莉
- 申请人: 哈尔滨工程大学
- 申请人地址: 黑龙江省哈尔滨市南岗区南通大街145号哈尔滨工程大学科技处知识产权办公室
- 专利权人: 哈尔滨工程大学
- 当前专利权人: 哈尔滨工程大学
- 当前专利权人地址: 黑龙江省哈尔滨市南岗区南通大街145号哈尔滨工程大学科技处知识产权办公室
- 主分类号: G05D1/10
- IPC分类号: G05D1/10
The invention provides an AUV (autonomous underwater vehicle) three-dimension curve path tracking control method based on iteration. The method comprises the following steps that 1, initialization is carried out; 2, the relative tracking error of the current AUV position and the virtual guide point on an expected path in an AUV carrier coordinate system at the initial moment is calculated; 3, the expected moving speed of the virtual guide point on the expected path and the AUV kinematics tracking control law are calculated; 4, the iteration is adopted on the basis of the kinematics equivalent control law, and the kinematics equivalent control law of the underactuated AUV three-dimension path tracking is deduced; and 5, the distance d=sqrt((x-xk)<2>+(y-yk)<2>+(z-zk)<2>) between the current AUV position Eta
公开/授权文献:
- CN102768539B 基于迭代的自主水下航行器三维曲线路径跟踪控制方法 公开/授权日:2014-08-06