Feedforward and Feedback Optimal Control of Autonomous Profiling Monitoring Underwater Vehicle with Disturbance

Hua Mu; Jian Yuan

doi:10.4028/www.scientific.net/AMM.602-605.970

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605Feedforward and Feedback Optimal Control of...

Feedforward and Feedback Optimal Control of Autonomous Profiling Monitoring Underwater Vehicle with Disturbance

Abstract:

The optimal control of autonomous profiling monitoring underwater vehicle (APMUV) is investigated. Firstly, dynamics equations in vertical plane with disturbances are constructed, and the equations are converted into a linear system by feedback linearization method and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. To solve the unpractical problem of the control law, we construct a disturbance observer to observe the system states to make a quick convergance of the observed system states. Numerical simulations show the effectiveness of the control scheme

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

970-973

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.970

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Online since:

August 2014

Authors:

Hua Mu, Jian Yuan*

Keywords:

Autonomous Profiling Monitoring Underwater Vehicle, External Disturbance, Feedback Optimal Control, Feedforward, Observer

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* - Corresponding Author

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