Robust Autopilot Design for Unmanned Underwater Vehicle Based on H∞ Mixed Sensitivity

Abstract:

As the complexity of marine environment and the existence of uncertain factors along with Unmanned Underwater Vehicle (UUV) dynamics itself bringing many nonlinear problems, it is difficult to control the navigation in accordance with a predetermined trajectory. Based on the UUV dynamics analysis and system modeling, this paper decoupled its control system into three sub-control systems, designed robust autopilot using H∞ mixed sensitivity control algorithm to generate the low-order controller to achieve independent control of three degrees of freedom. Eventually, the underwater navigation simulation results show that the proposed method can provide better control performance and the method is feasible and high efficiency in actual applications.

• Periodical: Advanced Materials Research (Volumes 457-458)
• Pages: 764-772
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.457-458.764
• Online since: January 2012
• Authors: Fang Rong Wang, Ru Wen Kan, Shu Nan Liu, Xu Bin Dong, Tao Shang, Song Yang
• Keywords: Dynamic, H∞ Mixed Sensitivity, Low-Order Controller, Robust Autopilot, Unmanned Underwater Vehicle (UUV)

References

[1] Ma Weiguo, Qi Qing and Xu Yimei. UUV can change the future underwater wars. Winged Missiles Journal. (1). (2003), pp.45-51.

[2] Fossen, T.I. Guidance and Control of Ocean Vehicles. John Wiley and Sons, New York. (1998).

[3] G. N. Roberts R. Sutton et al. The Progress of unmanned underwater vehicle (UUV). Electronic Industry Press. (2009). pp.193-218.

[4] Feng, Z. and R. Allen. H∞ autopilot design for an autonomous underwater vehicle, In Proceedings of the IEEE International Control Application, Glasgow, UK, September, (2002), pp.350-354.

[5] Burcher, R. and L. Rydill. Concepts in Submarine Design. Cambridge University Press, Cambridge, UK, (1998).

[6] Feng, Z. and R. Allen. Robust control of Subzero III in restricted waters,. Technical Memo No. 926, ISVR, University of Southampton, (2003).

[7] Jalving, B. The NDRE-AUV flight control system. IEEE Journal of Oceanic Engineering, vol. 19, (1994), pp.497-501.

DOI: 10.1109/48.338385

[8] Huang M L. Robust Control Theory and Applications. Harbin: Harbin Institute of Technology Press, (2007).

[9] Zhang Xianku and Jia Xinle. Ship motion control. Beijing: China National Defense Industry Press, (2006), pp.137-139.

[10] Li Zhongde and Yang Weidong. Multivariable decoupling robust control for tandem cold mills based on H∞ mixed sensitivity, Journal of University of Science and Technology Beijing Press, Oct. (2010), pp.5-7, doi: 11-2520/TF_20101020. 2015. 003.

[11] Hu, J. C. Bohn, and H.R. Wu. Systematic H∞ weighting function selection and its application to the real-time control of a vertical take-off aircraft. Control Engineer Practice, 8(3), (2000), pp.241-252.

DOI: 10.1016/s0967-0661(99)00157-4