典型文献
Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles
文献摘要：
A three-dimensional stabilization problem for underactuated autonomous underwater vehicles(AUVs)is addressed in this paper.A novel coordinate transformation form consisting of state modifications and input transformations is introduced such that the whole system is divided into two decoupled one-order subsystems.Some switching functions are presented to further decouple the underactuated dynamics and to produce persis-tently exciting(PE)signals for those underactuated states.Based on the aforementioned results,a quite simple control law is designed to achieve global three-dimensional asymptotic convergence of all states of underactuated AUVs.Comparative simulations are carried out to validate the effectiveness and performance of the proposed control scheme.
文献关键词：
中图分类号：
作者姓名：
FANG Haolin;ZHANG Jiawen;LI Jiawang
作者机构：
Faculty of Maritime and Transportation,Ningbo University,Ningbo 315211,Zhejiang,China
文献出处：
引用格式：
[1]FANG Haolin;ZHANG Jiawen;LI Jiawang-.Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles)[J].上海交通大学学报（英文版）,2022(03):383-392
A类：
Underactuated
B类：
Switched,Three,Dimensional,Decoupling,Stabilization,Autonomous,Underwater,Vehicles,three,dimensional,stabilization,problem,underactuated,autonomous,underwater,vehicles,AUVs,addressed,this,paper,novel,coordinate,consisting,modifications,input,transformations,introduced,such,that,whole,divided,into,two,decoupled,order,subsystems,Some,switching,functions,are,presented,further,dynamics,produce,persis,tently,exciting,PE,signals,those,states,Based,aforementioned,results,quite,simple,control,law,designed,achieve,global,asymptotic,convergence,all,Comparative,simulations,carried,out,validate,effectiveness,performance,proposed,scheme
AB值：
0.713895
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
