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Robust Control Based on Feedback Linearization for Roll Stabilizing of Autonomous Underwater Vehicle Under wave disturbances

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China Ocean Engineering 2011年第2期25卷 251-263页

作者：潘立鑫金鸿章王琳琳 Beijing Institute of Control Engineering China Academy of Space Technology College of Automation Harbin Engineering University College of Information Inner Mongolia University of Technology

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.

关键词： wave disturbances roll stabilization robust control zero-speed fin stabilizer

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Robust autopilot with wave filter for ship steering

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Journal of Marine Science and Application 2006年第2期5卷 24-29页

作者： WANG Xian-zhou XU Han-zhen Department of Naval Architecture and Ocean Engineering Huazhong University of Science and TechnologyWuhan 430074China

Research was done to overcome traditional problems associated with automatic steering systems of a ship in a seaway. A ship’s dynamic model with wave disturbances was built and a wave filter was designed by means of an extended states observer (ESO). The model estimated the low frequency motion component from a heading measurement corrupted by colorednoise, so back-and-forth steering caused by high frequency wave disturbances was avoided. At the same time, a robust autopilot system, designed by variable structure control theory, was presented. Simulation results achieved in dangerous sea status show that the wave filter works very well and the autopilot has strong robustness to environmental disturbances and model perturbation, and more importantly, the frequency of rudder adjustments is reduced noticeably.

关键词： autopilot wave disturbances variable structure control wave filter extended states observer (ESO)

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Approximate Optimal Disturbance Rejection Control with Application to Near-surface AUVs

Approximate Optimal Disturbance Rejection Control with Appli...

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第30届中国控制与决策会议

作者： Qing Yang De-xin Gao Hao Su Gong-you Tang College of Information Science and Technology Qingdao University of Science & Technology College of Automation and Electronic Engineer Qingdao University of Science & Technology College of Information Science and Engineering Ocean University of China

The depth issue of underactuated autonomous underwater vehicle（AUV） under wave disturbances is addressed and an approximate optimal disturbance rejection control（ODRC） is proposed. Firstly, a nonlinear control model of AUV in vertical plane is given, and the model of wave disturbances is generated by an exosystem. Secondly, the coupled two-point boundary value（TPBV） problem for AUV is derived from the theory of the quadratic optimal control. Using a recently developed successive approximation approach, the coupled TPBV problem is transformed into solving decoupled a linear state equation sequence and a linear adjoint equation sequence. Then by iterative solving the two equation sequences, the approximate ODRC law is obtained. Finally, simulation is provided to demonstrate the effectiveness.

关键词： Autonomous Underwater Vehicles wave disturbances Optimal Control Successive approximation approach

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Nonlinear Adaptive Control for 3-D Ship-mounted Cranes with Double-pendulum Effect Without Velocity Feedback

Nonlinear Adaptive Control for 3-D Ship-mounted Cranes with ...

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第43届中国控制会议

作者： Ling Yang Kai Wang Xin Ma Zizhong Wei Jiankang Zhang Center for Robotics School of Control Science and EngineeringEngineering Research Center of Intelligent Unmanned SystemMinistry of EducationShandong University

Unmeasurable velocities and noise amplification by numerical differentiators are difficult problems for crane *** this paper,an adaptive controller,without velocity feedback,is proposed for 3-D ship-mounted cranes to achieve swing suppression and accurate boom positioning. Auxiliary variables are designed to substitute for velocities that cannot be obtained directly. Additionally,bounded functions are utilized to constrain the input torque for safety. The stability of the control system is rigorously proven using Lyapunov's method. Furthermore,simulations validate the effectiveness of the proposed method.

关键词： Adaptive Control Ship-mounted Cranes wave disturbances

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