Autopilot Control Synthesis for Path Tracking Maneuvers of Underwater Vehicles

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. 作者： Author： Sam-Sang YOU[1]  Hyeung-Sik CHOI[1]  Hwan-Seong KIM[2]  Han-Il PARK[3] 作者单位： School of Mechanical and Energy Systems Engineering, Korea Maritime University, South KoreaDepartment of Logistics System Engineering, Korea Maritime University, South KoreaDepartment of Ocean Engineering, Korea Maritime University, South Korea 期 刊： 中国海洋工程(英文版)   ISTICEISCI Journal： CHINA OCEAN ENGINEERING 年，卷(期)： 2011, 25(2) 分类号： P754.3 Keywords： underwater vehicle    path following    2-DOF control synthesis    H∞ loop-shaping    plant uncertainty    model    机标分类号： TP2 U4 机标关键词： Synthesis    autonomous underwater vehicle    control system    controller    robust performance    vehicle dynamics    order    model reduction    robust control    path following    kinematics    synthesis    scaled    levels    paper    Based    time    use    AUV 基金项目： This research was a part of the project tiffed Development of Key Marine Equipments for Enhancement of Ocean Industry-Deve-lopment of Underwater Manipulator and Thrusting System Driven by Electric Motor funded by the Ministry of Land,Transport and Marit

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