Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances

Abstract

In the case of Autonomous Underwater Vehicle (AUV) navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.

Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

“…Moreover, 0 , 1 , and L are the coefficients of the FTDO to be designed. Combining the dynamic model (8) and FTDO (9), the error dynamics of the FTDO understood in the Filippov sense can be obtained 35ė…”

“…Thus, in order to cover larger operating envelopes, a growing number of nonlinear control approaches have been employed to achieve better tracking performance for the submersible systems. A feedback linearization controller is proposed for submersible, which is able to take advantage of the useful nonlinearities of the submersible model . Moreover, some backstepping control algorithms have been proposed for the submersible systems, which are able to avoid the cancelation of valuable nonlinearities and to introduce additional dynamics to improve control performance .…”

H∞ control for path tracking of autonomous underwater vehicle motion

“…Here, we cannot estimate the effects of Df(x) and Dg on the horizontal motion attitude through precise calculation. Supposing disturbance satisfies matching condition, 24 namely…”

Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle

“…Computer-torque controller plus robust adaptive fuzzy observer is introduced to control underwater vehicle suffering from uncertainties [14]. Besides, state feedback control with H-infinity robust control is considered to solve the problem of parameter uncertainty in AUV motion model [15]. Aided by feed-forward and a high-gain observer, an output feedback control system composed of a MIMO PID controller is proposed to one NTNU's ROV Miner system and validates by full-scale sea trials [16].…”