Predictive control for diving of an autonomous underwater vehicle

被引：0

作者：

Yao X. ^{[1
]}

Yang G. ^{[1
]}

Peng Y. ^{[2
]}

机构：

[1] College of Automation, Harbin Engineering University, Harbin

[2] Beijing Aerospace Automatic Control Institute, Beijing

来源：

Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | 2017年 / 49卷 / 09期

关键词：

Autonomous underwater vehicle; Linear matrix inequality; Online linearization; Predictive control; Reduced-order state observer;

D O I：

10.11918/j.issn.0367-6234.201610106

中图分类号：

学科分类号：

摘要：

To address the problem of depth tracking and attitude control of autonomous underwater vehicle (AUV) near the surface, a novel nonlinear reduced-order state observer (ROSO) and a predictive controller based on nonlinear model online linearization (PC-NMOL) are presented. By using a nonsingular coordinate transformation, the ROSO is achieved to accurately estimate the state variables of AUV. And the state estimation is applied to the predictive controller to enhance the attitude control and depth tracking performance of AUV. In simulation of AUV longitudinal motion control, the comparison has been presented between ROSO and full-order state observer (FOSO), also between PC-NMOL and traditional nonlinear predictive control (NPC). Simulation results show the fast dynamical response and strong robustness of proposed methods. © 2017, Editorial Board of Journal of Harbin Institute of Technology. All right reserved.

引用

页码：166 / 173

页数：7

共 19 条

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