Study on a New Nonlinear H∞ Guidance Law for Autonomous Underwater Vehicle

Hao Ding; Kui Ping Liu; Wen Li You

doi:10.4028/www.scientific.net/AMR.219-220.362

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 219-220Study on a New Nonlinear H∞ Guidance Law for...

Study on a New Nonlinear H_∞ Guidance Law for Autonomous Underwater Vehicle

Abstract:

The key for Autonomous Underwater Vehicle (AUV) to implement target pursuit is to design high performance guidance law. The globose reference frame is adopted, and equations for 3-D relative motion between AUV and the target are built. Then the H_∞ theory is used, and a new AUV nonlinear H_∞ guidance law is obtained by solving Hamilton-Jacobi inequation. Simulation is taken on to verify the performance of H_∞ guidance law. And the results show that the H_∞ guidance law can help AUV overtake the target in less time, and the azimuth and pitching angle of the target line of sight are always staying at the initial numerical values. Furthermore, the normal load decreases to zero gradually. So the guidance law is effective for AUV to pursuit target.

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Periodical:

Advanced Materials Research (Volumes 219-220)

Pages:

362-365

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.219-220.362

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Online since:

March 2011

Authors:

Hao Ding, Kui Ping Liu, Wen Li You

Keywords:

Autonomous Underwater Vehicle (AUV), Guidance Law, H_∞ Control

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