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

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. 作者： Author： PAN Li-xin[1]  JIN Hong-zhang[2]  WANG Lin-lin[3] 作者單位： Beijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100190, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, China;College of Information, Inner Mongolia University of Technology, Huhhot 010051, China 期 刊： 中國海洋工程(英文版)   ISTICEISCI Journal： CHINA OCEAN ENGINEERING 年，卷(期)： 2011, 25(2) 分類號(hào)： P754.3 Keywords： wave disturbances    roll stabilization    robust control    zero-speed fin stabilizer    機(jī)標(biāo)分類號(hào)： TP1 TP2 機(jī)標(biāo)關(guān)鍵詞： Wave    Autonomous Underwater Vehicle    Feedback Linearization    Based    Control    Robust control    motion model    Feedback linearization    parameter uncertainty    motion controller    Simulation results    wave disturbance    nonlinear system    control method    new method    based    AUV    in order    improved    approach 基金項(xiàng)目： The project is financially supported by the National Natural Science Foundation of China，State Key Laboratory of Robotics and System (HIT)

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