NDLI: Dual-loop robust controller design for autonomous underwater vehicle under unknown environmental disturbances

Content Provider	IET Digital Library
Author	Kim, M. S. Joe, Hangil Yu, Son Ceol
Abstract	A dual-loop robust controller is proposed for precise position control of an autonomous underwater vehicle under uncertain hydrodynamics and unknown disturbances. In the inner-loop, a time-delay controller is presented in which a time-delay estimator estimates uncertain hydrodynamics and unknown disturbances from its time-delayed information and cancels these, thereby reducing control efforts on internal dynamics considerably. In the outer-loop, the linear controller stabilises the position error of the AUV without prior knowledge on values of hydrodynamic parameters. The proposed dual-loop controller features simple structure and easy implementation because it does not require real-time estimation of hydrodynamics.
Starting Page	350
Ending Page	352
Page Count	3
ISSN	00135194
Volume Number	52
e-ISSN	1350911X
Issue Number	Issue 5, Mar (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/el/52/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/el.2015.3809
Journal	Electronics Letters
Publisher Date	2016-01-22
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerodynamics Autonomous Underwater Vehicle AUV Control Effort Reduction Control System Analysis Control System Synthesis Delay System Distributed Parameter Control System Dual-loop Robust Controller Design Fluid Mechanics Hydrodynamic Parameter Hydrodynamics Linear Controller Linear System Marine System Control Mechanical Engineering Mobile Robots Position Control Position Error Stabilisation Precise Position Control Real-time Hydrodynamics Estimation Robust Control Spatial Variables Control Stability in Control Theory Synthesis Method Telerobotics Time-delay Controller Time-delay Estimator Uncertain Hydrodynamics Uncertain System Unknown Environmental Disturbances Vehicle Mechanics
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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