Most designs for heading controller adopted Taylor linearization technique and neglected its nonlinear factors. For this reason, the accuracy of heading control for autonomous underwater vehicle (AUV) was lower. In order to solve this problem and enhance the accuracy, robustness and stability for heading control system, a nonlinear model of AUV in horizontal plane was established, which include uncertainties. Based on linearization via state feedback, a linear model of AUV was obtained at the operating point, and a robust heading controller was designed with closed-loop gain shaping algorithm. The computer simulation was used to demonstrate the robust controller designed via state feedback, has a better performance than the controller, which based on a linear model using Taylor linearization technique.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Application of linearization via state feedback to heading control for autonomous underwater vehicle


    Contributors:


    Publication date :

    2008


    Size :

    6 Seiten, 12 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Motion Control of Underwater Vehicle-Manipulator Systems Using Feedback Linearization

    Schjoelberg, I. / Egeland, O. / International Federation of Automatic Control | British Library Conference Proceedings | 1995


    Design of a hybrid controller for heading control of an autonomous underwater vehicle

    Xia, Guoqing / Tang, Li / Guo, Fengshui et al. | Tema Archive | 2009



    Feedback Linearization

    Lee, Hong-Gi | Springer Verlag | 2022


    AUTONOMOUS UNDERWATER VEHICLE RECOVERY METHOD, AND AUTONOMOUS UNDERWATER VEHICLE

    ZHANG AIDONG / WANG CHAO / MEI TAO et al. | European Patent Office | 2022

    Free access