Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances |
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Authors: | Li-xin Pan Hong-zhang Jin Lin-lin Wang |
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Institution: | b,c,1 a Beijing Institute of Control Engineering,China Academy of Space Technology,Beijing 100190,China b College of Automation,Harbin Engineering University,Harbin 150001,China c College of Information,Inner Mongolia University of Technology,Huhhot 010051,China |
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Abstract: | 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. |
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Keywords: | wave disturbances roll stabilization robust control zero-speed fin stabilizer |
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