Robust trajectory control of underwater vehicles using time delay control law

被引：61

作者：

Kumar, R. Prasanth ^{[1
]}

Dasgupta, A. ^{[1
]}

Kumar, C. S. ^{[1
]}

机构：

[1] Indian Inst Technol, Dept Mech Engn, Kharagpur 721302, W Bengal, India

来源：

OCEAN ENGINEERING | 2007年 / 34卷 / 5-6期

关键词：

underwater vehicle; time delay control; robust control; adaptive control;

D O I：

10.1016/j.oceaneng.2006.04.003

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed. (C) 2006 Elsevier Ltd. All rights reserved.

引用

页码：842 / 849

页数：8

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