The control of under-actuated underwater vehicles with coupled dynamics is a research of major interest, not only but mainly due to the large number of applications in the offshore industry. In a former work, authors developed a controller exhibiting desired robustness features, which unfortunately presented a poor performance in tracking activities. To tackle this problem, a two degree of freedom robust controller using an H-infinity mixed sensitivity approach was developed and guidance rules were added to face the impossibility of a straight control of position variables within the used optimal approach. Guidance was accomplished using a line of sight (LOS) for horizontal motions and a fuzzy logic rule for vertical motions. Three cases of the tracking were simulated, its results validated clearly the good conjunction of the robust control and guidance approaches used here.


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    Title :

    AUV robust guidance control


    Additional title:

    Robuste Regelung eines autonomen Unterwasserfahrzeugs


    Contributors:


    Publication date :

    2008


    Size :

    6 Seiten, 10 Bilder, 14 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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