We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Design and Experiment of a Plateau Data-Gathering AUV.
- Authors
Xu, Hao; Zhang, Guo-Cheng; Sun, Yu-Shan; Pang, Shuo; Ran, Xiang-Rui; Wang, Xiang-Bin
- Abstract
The design, control, and implementation of an autonomous underwater vehicle (AUV) for collecting hydrological information from plateau rivers and lakes are presented in this paper. The hardware and software structures of the control system were previously described. A novel sliding mode controller (SMC) with combinational reaching law of vertical hovering motion is proposed to improve the robustness and stability. The S-plane control, a nonlinear controller with little parameters, is used in the horizontal motion. Besides, the navigation strategy based on the dead-reckoning algorithm, a path tracking based on the light-of-sight (LOS) algorithm, and a control allocation strategy considering saturation are present. Finally, experiments were performed in a tank and in a river in the Qinghai–Tibet Plateau to prove the feasibility and reliability of the AUV system.
- Subjects
AUTONOMOUS underwater vehicles; EXPERIMENTAL design; VERTICAL motion; PLATEAUS
- Publication
Journal of Marine Science & Engineering, 2019, Vol 7, Issue 10, p376
- ISSN
2077-1312
- Publication type
Article
- DOI
10.3390/jmse7100376