Robust Control Based on Feedback Linearization for Roll Stabilizing of Autonomous Underwater Vehicle Under Wave Disturbances

作     者：潘立鑫 金鸿章 王琳琳 

作者机构：Beijing Institute of Control EngineeringChina Academy of Space Technology College of AutomationHarbin Engineering University College of InformationInner Mongolia University of Technology 

出 版 物：《China Ocean Engineering》 (中国海洋工程（英文版）)

年 卷 期：2011年第25卷第2期

页      面：251-263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：supported by the National Natural Science Foundation of China (Grant No. 50879012) State Key Laboratory of Robotics and System (HIT) (Grant No. SKLRS200706) 

主　　题：wave disturbances roll stabilization robust control zero-speed fin stabilizer 

摘      要：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.