Application of linearization via state feedback to heading control for Autonomous Underwater Vehicle

Most designs for heading controller adopted Taylor linearization technique and neglected its nonlinear factors. For this reason, the accuracy of heading control for autonomous underwater vehicle (AUV) was lower. In order to solve this problem and enhance the accuracy, robustness and stability for he...

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Bibliographic Details
Main Authors: Xiang-qin Cheng, Zhe-ping Yan, Xin-qian Bian, Jia-jia Zhou
Format: Conference Proceeding
Language:English
Subjects:
Control system synthesis
Linear feedback control systems
Linearization techniques
Nonlinear control systems
Robust control
Robust stability
Shape control
State feedback
Uncertainty
Underwater vehicles
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Summary:Most designs for heading controller adopted Taylor linearization technique and neglected its nonlinear factors. For this reason, the accuracy of heading control for autonomous underwater vehicle (AUV) was lower. In order to solve this problem and enhance the accuracy, robustness and stability for heading control system, a nonlinear model of AUV in horizontal plane was established, which include uncertainties. Based on linearization via state feedback, a linear model of AUV was obtained at the operating point, and a robust heading controller was designed with closed-loop gain shaping algorithm. The computer simulation was used to demonstrate the robust controller designed via state feedback, has a better performance than the controller, which based on a linear model using Taylor linearization technique.
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2008.4798802