Paper Title:

Robust Control Research for AUV Trajectory Control System

Periodical Applied Mechanics and Materials (Volumes 148 - 149)
Main Theme Mechanical Engineering, Materials and Energy
Edited by Grace Chang
Pages 93-96
DOI 10.4028/www.scientific.net/AMM.148-149.93
Citation Juan Li et al., 2011, Applied Mechanics and Materials, 148-149, 93
Online since December, 2011
Authors Juan Li, Xin Qian Bian, Hua Sheng Xiong, Hong Jian Wang
Keywords Autonomous Underwater Vehicle (AUV), Robust H Control, Trajectory Control
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Abstract

A robust trajectory control problem for an underactuated AUV with parameter uncertainties and external disturbances was considered. The trajectory control was decomposed in the horizontal plane and vertical plane. Based on the robust theory, the AUV model for heading control was proposed, and the heading controller was designed. The simulated results show that the method can effectively overcome disturbances of constant ocean currents to ensure the precision track.