Input-output linearization design for dive-plane control of AUV

摘要：

This paper addresses the problem of a torpedo-type autonomous underwater vehicle (AUV) controlled in the vertical plane. Since there are two outputs of diveplane dynamics model, the design of the controller is divided into two steps. And towards to the nonlinearity of the vertical plane dynamics model, we develop a state feedback control law which is based on the input-output linearization technique. Numerical simulation results are presented which show that the proposed controller performs high effectiveness and good transient performance.

关键词： autonomous underwater vehicle (AUV) input-output linearization state feedback control nonlinear system

作者: Jian Cao Yumin Su

作者单位: State Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin,China State Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin, China

会议类型: 国际会议

会议名称: 2011 International Conference on Electronic & Mechanical Engineering and Information Technology(EMEIT 2011)(2011年机电工程与信息技术国际会议)

会议地点: 哈尔滨

会议语种:英文

页码: 2439-2442

在线出版日期: 2011-08-12（万方平台首次上网日期，不代表论文的发表时间）