In this work, a two degree-of-freedom H(index infinitiv) robust approach, using a mixed sensitivity approach is employed in the synthesis of a centralized 6-DOF(Degrees of Freedom) controller for an AUV (Autonomous Underwater Vehicle). This approach offers several facilities to find a centralized controller using all available information of the system, providing the desired robustness features. Robustness is a very important issue is the design since it is used a linearised model, with a poor modeling of disturbances. In this work a parallel major contribution is the development of a guidance procedure based on a LOS (Light of Sight) used with the centralized robust controller. If well designed it may provide excellent maneuverability improving the vehicle tracking capability in deep seas. This allows the vehicle to perform complex trajectories, typical of sub-sea missions in the offshore field. The AUV used in this work is a torpedo like vehicle. In this case position variables are generally independent in the dynamic model and a trajectory tracking approach is suitable to solve the guidance problem. The organization of this paper is as follows: the first section presents a brief introduction of the control problem related to underwater vehicles; section two presents the non-linear mathematical model used in the work; section three presents the robust control approach and the guidance procedure used to build the vehicle controller; results and analysis are presented in section four and finally conclusions are given in section five.
Robust control for underwater vehicle guidance
Robuste Steuerung für die Zielführung eines Unterwasserfahrzeuges
2007
6 Seiten, 7 Bilder, 10 Quellen
(nicht paginiert)
Aufsatz (Konferenz)
Datenträger
Englisch
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