NDLI: Depth control of autonomous underwater vehicles using indirect robust control method

Content Provider	IEEE Xplore Digital Library
Author	Hejia Pan Ming Xin
Copyright Year	2012
Description	Author affiliation: Dept. of Aerosp. Eng., Mississippi State Univ., Starkville, MS, USA (Hejia Pan; Ming Xin)
Abstract	In this paper we propose a new robust depth control scheme for autonomous underwater vehicles (AUV) in the presence of hydrodynamic parameter uncertainties and disturbances. The controller is designed via an indirect robust control method that handles the uncertainties by formulating the uncertainty bounds into the cost function and then transforming the robust control problem into an equivalent optimal control problem. Robust asymptotic stability and optimality can be both achieved. The θ-D method is utilized to solve the resultant nonlinear optimal control problem with an approximate closed-form feedback solution and thus is easy to implement onboard without intensive computation load. Simulation results demonstrate that robust depth control is accomplished under the system parameter uncertainties and disturbances with small control fin deflection requirement.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	6216
Ending Page	6221
File Size	826946
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315373
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robust control Optimal control Uncertainty Equations Uncertain systems Hydrodynamics Robustness
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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