Speed Law Control in Some Tasks for Underwater Vehicles
Abstract
The article deals with two tasks of providing the rear motion of autonomous underwater vehicles. The first task is to find the paths with specific yaw angle along the given set of target points in the plane. For this task we use linear models that simplify the description of the apparatus motion in the horizontal and vertical planes. In the horizontal plane the constraints are achieved. In Vertical plane we use a constant depth also for simplifying model. The second task is to follow along the trajectory in space. The main aspects here are the position in space and its orientation to the yaw angle. This model allows the use of four independent variables. For the decision of this task small modification with backstepping algorithm can be used. The proposed solutions can be used to provide astatism for controlled variables. As a result the apparatus passes close enough to the waypoints, and the device is on a given trajectory with sufficient accuracy. The success and effectiveness of the proposed approaches are illustrated by their implementation and conducting experiments in the MATLAB-Simulink environment.
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