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.


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    Title :

    Feedback Heading Control for Autonomous Underwater Vehicle Based on Reduced-Order Observer


    Additional title:

    Smart Innovation, Systems and Technologies


    Contributors:


    Publication date :

    2020-07-29


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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