Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV

Zhi Bin Jiang; Tie Jun Liu; Hui Xi Xu; Song Li Jia; Jian Cui

doi:10.4028/www.scientific.net/AMM.741.720

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 741Multivariable Decoupling Control Based on TC...

Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV

Abstract:

The diving plane motion of autonomous underwater vehicles (AUVs) is a complex multivariable nonlinear system with pitch-heave coupling. Tornambe’s controllers (TCs) can online estimate the dynamic uncertainty regardless of the type of disturbance. The TCs for depth and pitch angle are adopted to achieve multivariable decoupling control by introducing virtual control inputs. The methodology can obtain fast and non-overshoot control of depth and pitch angle in the diving and floating process. Simulation results demonstrated the effectiveness of the proposed control scheme.

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Periodical:

Applied Mechanics and Materials (Volume 741)

Pages:

720-724

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.741.720

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Online since:

March 2015

Authors:

Zhi Bin Jiang, Tie Jun Liu, Hui Xi Xu, Song Li Jia, Jian Cui

Keywords:

Autonomous Underwater Vehicles, Multivariable Decoupling Control, TC Control

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References

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