Nonlinear Control for Autonomous Underwater Glider Motion Based on Inverse System Method

作     者：杨海 马捷 YANG Hai,MA Jie (State Key Laboratory of Ocean Engineering,Shanghai Jiaotong University,Shanghai 200240,China)

作者机构：State Key Laboratory of Ocean EngineeringShanghai Jiaotong University 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2010年第15卷第6期

页      面：713-718页

核心收录：

学科分类：081505[工学-港口、海岸及近海工程] 08[工学] 0815[工学-水利工程] 0824[工学-船舶与海洋工程] 0814[工学-土木工程] 082401[工学-船舶与海洋结构物设计制造] 

基　　金：the National Natural Science Foundation of China (No. 50979058) the Special Research Fund for the Doctoral Program of Higher Education (No. 20090073110012) 

主　　题：underwater glider nonlinear control inverse system method zero dynamics 

摘      要：Autonomous underwater gliders are highly effcient,buoyancy-driven,winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems. In addition,the gliders are underactuated and diffcult to maneuver,and also dependent on their operational environment. To confront these problems and to design an effective controller,the inverse system method was used to decouple the original system into two independent single variable linear subsystems. The stability of the zero dynamics was analyzed,and an additional closed-loop controller for each linear subsystem was designed by sliding mode control method to form a type of composite controller. Simulation results demonstrate that the derived nonlinear controller is able to cope with the aforementioned problems simultaneously and satisfactorily.