Autopilot control synthesis for path tracking maneuvers of underwater vehicles |
| |
| Authors: | Sam-Sang You Hyeung-Sik Choi Hwan-Seong Kim Han-Il Park |
| |
| Institution: | School of Mechanical and Energy Systems Engineering,Korea Maritime University,South Korea b Department of Logistics System Engineering,Korea Maritime University,South Korea c Department of Ocean Engineering,Korea Maritime University,South Korea |
| |
| Abstract: | This paper is concerned with the robust control synthesis of autonomous underwater vehicle (AUV) for general path following
maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified framework. Based on H
∞ loop-shaping procedure, the 2-DOF autopilot controller has been presented to enhance stability and path tracking. By use
of model reduction, the high-order control system is reduced to one with reasonable order, and further the scaled low-order
controller has been analyzed in both the frequency and the time domains. Finally, it is shown that the autopilot control system
provides robust performance and stability against prescribed levels of uncertainty. |
| |
| Keywords: | underwater vehicle path following 2-DOF control synthesis H∞ loop-shaping plant uncertainty model reduction |
| 本文献已被 CNKI 万方数据 SpringerLink 等数据库收录！ |
| 点击此处可从《中国海洋工程》浏览原始摘要信息 |
| 点击此处可从《中国海洋工程》下载免费的PDF全文 |
|
