Two-Stage Scheme for Disturbance Rejection Hovering Control of Underwater Vehicles

被引：0
作者：
Bi A. [1 ]
Feng Z. [1 ,2 ]
Zhu Y. [1 ]
Deng X. [1 ]
机构：
[1] School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai
[2] State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai
来源：
Journal of Shanghai Jiaotong University (Science) | 2022年 / 27卷 / 03期
关键词：
A; disturbance rejection; hovering control; Lyapunov stability; TP; 273; underwater vehicles; variable ballast systems;
D O I：
10.1007/s12204-021-2341-1
中图分类号：
学科分类号：
摘要：
A two-stage model-independent hovering control scheme for underwater vehicles, which are subject to unknown yet constant external disturbance, to eliminate steady-state depth error is proposed. Proportional-derivative (PD) state feedback control law is adopted as the ballast mass planner at the first stage for the vehicle to reach both hydrostatic balance and a steady depth. The residual depth error is then removed by an additional disturbance rejection control at the second stage. Global asymptotic stability of the whole system is guaranteed via Lyapunov approach. The effectiveness of the proposed scheme is illustrated by the simulation of diving control of an underwater vehicle with hydraulic variable ballast system. © 2021, Shanghai Jiao Tong University and Springer-Verlag GmbH Germany, part of Springer Nature.
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页码：375 / 382
页数：7
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