This paper is concerned with the robust control synthesis of autonomous underwater vehicle （AUV） for general path following maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified frame...This paper is concerned with the robust control synthesis of autonomous underwater vehicle （AUV） for general path following maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified framework. Based on H∞ loop-shaping procedure, the 2-DOF autopilot controller has been presented to enhance stability and path tracking. By use of model reduction, the high-order control system is reduced to one with reasonable order, and further the scaled low-order controller has been analyzed in both the frequency and the time domains. Finally, it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.展开更多
基金a part of the project titled "Development of Key Marine Equipments for Enhancement of Ocean Industry-Development of Underwater Manipulator and Thrusting System Driven by Electric Motor" funded by the Ministry of Land, Transport and Maritime Affairs, Korea
文摘This paper is concerned with the robust control synthesis of autonomous underwater vehicle （AUV） for general path following maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified framework. Based on H∞ loop-shaping procedure, the 2-DOF autopilot controller has been presented to enhance stability and path tracking. By use of model reduction, the high-order control system is reduced to one with reasonable order, and further the scaled low-order controller has been analyzed in both the frequency and the time domains. Finally, it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.
