Robust H∞ Control of Unmanned Underwater Vehicle in Vertical Plane Based on T-S Model and Parallel Distributed Compensation
作者单位：College of Automation Harbin Engineering University
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported in part by the National Nature Science Foundation of China under Grant 51609048 in part by the Harbin Science and Technology Bureau under Grant 2016RAQXJ080 in part by the Heilongjiang Province Science Foundation for Youths under Grant QC2017051
关 键 词：UUV H∞ control T-S model PDC Depth-pitch coordinated control method
摘 要：Excellent depth control capability of UUV（Unmanned Underwater Vehicle） is a key factor for completing specific tasks. Considering the variance of UUV’s speed and ocean current interference, depth and pitch control model of UUV are established based on T-S model. The H∞ controller in vertical plane movement is designed applying the method of parallel distributed compensation（PDC）. Aiming to meet the design requirements with the large pitch angle when UUV is submerging,the depth-pitch coordinated control method with variant depth is used to control the submergence of UUV. Simulation result shows that the control method can effectively control depth and pitch of UUV in given speed interval and has good dynamic performance. Moreover, the method can effectively decrease the pitch angel when UUV is submerging and has strong inhibitory ability on ocean current disturbance.