The problem of AUV (Autonomous Underwater Vehicle) control in the absence of full state information is addressed. An application is made to the control of a prototype AUV in the vertical plane. The methodology adopted for controller design is nonlinear gain-scheduling control, whereby a set of linear, dynamic, reduced order output feedback controllers are designed and scheduled on the vehicle's forward speed. The controller design steps are summarized, a technique for its practical implementation is described and experimental results are presented obtained with the prototype INFANTE AUV during tests at sea.
Depth control of the INFANTE AUV using gain-scheduled reduced order output feedback
Tiefenregelung des autonomen Unterwasserfahrzeuges INFANTE mittels Ausgangsrückführung reduzierter Ordnung und Proportionalbeiwertanpassung
2007
13 Seiten, 15 Bilder, 2 Tabellen, 24 Quellen
Aufsatz (Konferenz)
Englisch
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