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The trajectory tracking control method of underactuaed UUV for underwater recovry is studied, considering the strong nonlinear and strong coupling of dynamic motion model, and the characteristics of nonholonomic constraints for underactuated UUV. The strategy of trajectory planning is established by inducting a virtual UUV on the reference trajectory which(More)
This paper presents the mission and motion control method of an Autonomous Underwater Vehicle (AUV) for ocean terrain survey. The motion modes of AUV in the terrain survey mission are analyzed and defined, including: way-point tracking motion and trajectory tracking motion. For terrain survey mission, AUV needs to track a series of points and paths in(More)
Spatial path following is an important but difficult technology for underwater vehicle in the complicated ocean environment, especially for an underactuated vehicle. This paper addresses the problem of 3-D Path Following of an underactuated underwater vehicle in the presence of constant unknown ocean currents. The nonlinear controller including dynamics and(More)
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