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 |
| Price | US$ 28,- |
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.