Robust Autopilot Design for Unmanned Underwater Vehicle based on H Mixed Sensitivity ∞

摘要：

As the complexity of marine environment and the existence of uncertain factors along with Unmanned Underwater Vehicle (UUV) dynamics itself bringing many nonlinear problems, it is difficult to control the navigation in accordance with a predetermined trajectory. Based on the UUV dynamics analysis and system modeling, this paper decoupled its control system into three sub-control systems, designed robust autopilot using H∞ mixed sensitivity control algorithm to generate the low-order controller to achieve independent control of three degrees of freedom. Eventually, the underwater navigation simulation results show that the proposed method can provide better control performance and the method is feasible and high efficiency in actual applications.

关键词： Unmanned Underwater Vehicle (UUV) Dynamics Robust autopilot H∞ mixed sensitivity low-order controller

作者: Fangrong Wang Ruwen Kan Shunan Liu Xubin Dong Tao Shang Song Yang

作者单位: School of Communication Engineering,Jilin UniversityChangchun 130025, China School of Mechanical Science and Engineering,Jilin UniversityChangchun 130025, China

会议类型: 国际会议

会议名称: 2011 International Conference on Information System and Computational Intelligence(2011 IEEE信息系统与计算智能国际会议 ICISCI 2011)

会议地点: 哈尔滨

会议语种:英文

页码: 267-271

在线出版日期: 2011-01-18（万方平台首次上网日期，不代表论文的发表时间）