This paper presents two robust control synthesis methods for an autonomous underwater. The problem statement requires the design of a position and attitude control system for robust vehicle trajectory following. A detailed nonlinear model of the vehicle was derived, an operating point for nominal design was selected, and a multivariable linear model of the vehicle was obtained by linearization around the operating point. The presence of structured uncertainties due to errors in the computation of hydrodynamic coefficients, dynamic linearization and truncation, unknown disturbances, is included in the control synthesis. Two robust controllers were designed: a nonlinear one using a sliding mode approach, and a linear one using linear matrix inequalities (LMI) synthesis techniques. The performance of the two controllers were extensively evaluated and compared in simulation with a full nonlinear model of the vehicle.
Robust control of underwater vehicles: sliding mode vs. LMI synthesis
American Control Conference, 1999 ; 3422-3426
1999
5 Seiten, 5 Quellen
Conference paper
English
Taylor & Francis Verlag | 2023
|Adaptive sliding mode control of autonomous underwater vehicles in the dive plane
Tema Archive | 1990
|Sliding mode controller with improved switching face for underwater vehicles
Tema Archive | 2008
|SAGE Publications | 2023
|