[1]XU Dawei,WU Di,HOU Shuping,et al.Depth control method for UUV maneuvering near surface under wave disturbance[J].CAAI Transactions on Intelligent Systems,2014,9(4):407-412.[doi:10.3969/j.issn.1673-4785.201311068]
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Depth control method for UUV maneuvering near surface under wave disturbance
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
9
Number of periods:
2014 4
Page number:
407-412
Column:
学术论文—智能系统
Public date:
2014-08-25
- Title:
- Depth control method for UUV maneuvering near surface under wave disturbance
- Keywords:
- UUV; disturbance observer; variable structure control; extension control; wave disturbance; depth control method
- CLC:
- TP18
- DOI:
- 10.3969/j.issn.1673-4785.201311068
- Abstract:
- This paper mainly studies the near surface depth control problems of the unmanned underwater vehicle (UUV). Due to the strong coupling condition of the UUV dynamics, the pole assignment of the integral variable structure control could be rather complicated. So in this paper, the authors extended the traditional integral variable structure control with the extension control algorithm and designed an extension integral variable structure controller with increased robustness when solving the pole assignment problem with the UUV depth control system. In the meantime, frequent changes in the depth caused by the ocean waves generated lots of problems with the motion control of the UUVs when operated near the surface, such as wear and tear of the motors, consumption of energy, etc. Based on the mathematical model of the ocean wave, this paper estimates the disturbance of the depth according to the nonlinear output disturbance observer with the stability proved by the Lyapunov theory. Finally, the controller and observer were used in the depth control simulation system. The results demonstrate the effectiveness and practical significance of this method.
- References:
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1900-01-01