Robust Control Research for AUV Trajectory Control System

摘要：

A robust trajectory control problem for an underactuated AUV with parameter uncertainties and external disturbances was considered. The trajectory control was decomposed in the horizontal plane and vertical plane. Based on the robust H∞ theory, the AUV model for heading control was proposed, and the heading controller was designed. The simulated results show that the method can effectively overcome disturbances of constant ocean currents to ensure the precision track.

关键词： AUV trajectory control robust H∞ control

作者: LiJuan Bian Xinqian Xiong Huasheng Wang Hongjian

作者单位: Harbin Engineering University,Harbin,150001 Tsinghua University,Beijing,100084

会议类型: 国际会议

会议名称: 2011 International Conference on Machanical Engineering,Materials and Energy(2011年机械工程、材料与能源国际会议 ICMEME 2011)

会议地点: 大连

会议语种:英文

页码: 93-96

在线出版日期: 2011-10-19（万方平台首次上网日期，不代表论文的发表时间）