The UUV Heading Control System Based on Adaptive Robust PD Control Principle

摘要：

For the UUV heading control,linear PD control is a simple and effective strategy,however,under most circumstances too large initial torque output is often provided to the rudder,and the maximum torque the rudder can bear is limited,which thus making the increase of the PD controller parameters as to further improve the heading control effects unavailable.In this paper,an adaptive robust PD controller for UUV heading system is designed to avoid excessive initial output torque.The computer simulation demonstrated that the designed controller is effective to eliminate the excessive initial output torque and external disturbance.Furthermore,the experiment for the heading control in Lake shows the feasibility and practicability of the proposed method.

作者: Li Xu Shijie Li Jian Xu Jie Zhao

作者单位: College of Automation,Harbin Engineering University,Harbin,Heilongjiang Province,China College of Automation,Harbin Engineering University,Harbin,Heilongjiang Province,China Robotics Inst Robotics Institute,Harbin Institute of Technology,Harbin,Heilongjiang Province,China

会议类型: 国际会议

会议名称: 第八届IEEE信息与自动化国际会议(ICIC 2011)

会议地点: 深圳

会议语种:英文

页码: 129-134

在线出版日期: 2011-06-06（万方平台首次上网日期，不代表论文的发表时间）