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2023 | OriginalPaper | Buchkapitel

A System Engineering Approach to Model and Implement Planar Trajectory-Tracking Controllers for Autonomous Underwater Vehicles

verfasst von : Ngo Van Hien, Hoang Cong Liem, Ngo Van He

Erschienen in: Advances in Engineering Research and Application

Verlag: Springer International Publishing

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Abstract

Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented planar trajectory planning and tracking controllers for Autonomous Underwater Vehicles (AUVs). This model covers all steps including the requirements management, analysis, design, and implementation to conveniently realize controllers for most standard AUV platforms. It also allows the designed elements to be customizable and re-usable in the development of new control applications for various AUVs. The paper describes step-by-step the development lifecycle of planar trajectory-tracking controllers for AUVs. Based on this proposed model, a horizontal planar trajectory-tracking controller of a low-cost turtle-shaped AUV was developed and taken on trial trips with good feasibility.

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Titel: A System Engineering Approach to Model and Implement Planar Trajectory-Tracking Controllers for Autonomous Underwater Vehicles
verfasst von: Ngo Van Hien
Hoang Cong Liem
Ngo Van He
Verlag: Springer International Publishing
Buch: Advances in Engineering Research and Application
Print ISBN: 978-3-031-22199-6

Electronic ISBN: 978-3-031-22200-9

Copyright-Jahr: 2023
DOI: https://doi.org/10.1007/978-3-031-22200-9_15

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