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.
AUV robust guidance control
Robuste Regelung eines autonomen Unterwasserfahrzeugs
2008
6 Seiten, 10 Bilder, 14 Quellen
Conference paper
English
Robust control for underwater vehicle guidance
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