Heading control is one fundamental functionality of motion control for autonomous underwater vehicle (AUV). However, the control performance is affected by the disturbance of surrounding environment and the unknown uncertainties of AUV. A novel reduced-order observer is proposed to estimate the state variables of AUV. A continuous-time nonlinear model-based feedback control is designed to enhance the heading control of AUV. The simulation results have shown that the control scheme for heading control proposed in this paper has good performance.
Feedback Heading Control for Autonomous Underwater Vehicle Based on Reduced-Order Observer
Smart Innovation, Systems and Technologies
2020-07-29
8 pages
Article/Chapter (Book)
Electronic Resource
English
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