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Application of a zero-speed fin stabilizer for Roll Reduction of a Marine Robot near the Surface

Journal of Marine Science and Application 2012年第2期11卷 228-235页

作者： Yannan Gao Hongzhang Jin Shengbin Zhou College of Automation Harbin Engineering University Harbin 150001 China College of Electrical and Technology Heilongjiang Institute of Science and TechnologyCollege of Electrical and Technology Heilong/iang Institute of Science and Technology Harbin 150001 China College of Mathematics Harbin Normal UniversityCollege of Mathematics Harbin Normal University Harbin 150001 China

A zero-speed fin stabilizer system was developed for rolling control of a marine *** a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from *** on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave *** was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin *** methods of input-output linearization and model reference were used to realize the tracking *** were presented to demonstrate the validity of the control law proposed.

关键词： zero-speed fin stabilizer roll reduction input-output linearization master-slave structure marine robot

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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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