ROBUST H-INFINITY AUXILIARY DRIVING HEADING CONTROL FOR A UUV IN LOW SPEED MODE

被引：4

作者：

Zhang, Wei ^{[1
]}

Ten, Yanbin ^{[1
]}

Wei, Shilin ^{[1
]}

Hu, Shouyi ^{[1
]}

Yan, Zheping ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2019年 / 34卷 / 02期

基金：

中国国家自然科学基金;

关键词：

UUV; robust H-infinity control; low speed heading control; auxiliary driving; AUTONOMOUS UNDERWATER VEHICLE;

D O I：

10.2316/J.2019.206-5477

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The main purpose of this paper is to study the heading controlling of an unmanned underwater vehicle (UUV) in low speed. The robust H-infinity auxiliary driving heading controller in low speed mode is presented. The robust H-infinity control theory and the four degrees of freedom mathematical model are presented. Then, a simulation for heading change in different speed is designed to test the heading controller. Finally, to prove the feasibility of the controller, a real pool experiment is carried on. Through the results, the controller is effective and feasible.

引用

页码：176 / 182

页数：7

共 24 条

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