Zhou Jiajia

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An algorithm of path following for Unmanned Underwater Vehicle (UUV) based on backstepping is proposed in this paper. To design the path following controller by the backstepping technique, the algorithm compares desired path predefined and the path information collected from the sensors of vehicle and combines with Lyapunov theory analyzing the stability of(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)
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