Longitudinal control of Pirajuba autonomous underwater vehicle, using techniques of robust control LQG/LTR

João L.D. Dantas, Ettore A. de Barros, Jose J. da Cruz

Research output: Contribution to journalConference Contributionpeer-review

Abstract

This work presents a study on a robust controller design for the motion on the vertical plane of an AUV at low depths. The LQG/LTR control strategy is proposed for rejecting disturbances originated from sea waves on the depth, attitude and axial velocity of an AUV. The vehicle is an adapted version of the Pirajuba AUV, developed at the Unmanned Vehicles Laboratory, in the University of Sa~o Paulo. The plant modeling was based on previous studies on manoeuvrability predictions for the AUV, and a simplified model for wave disturbances. Modeling errors for manoeuvring coefficients were considered in the controller design. The validation is based on simulation studies using a set of non-linear equations of motion.

Original languageEnglish
Pages (from-to)108-113
Number of pages6
JournalIFAC Proceedings Volumes
Volume43
Issue number20
DOIs
Publication statusPublished - 30 Sept 2010

Keywords

  • autonomous underwater vehicle (AUV)
  • robust control in marine systems
  • simulations in marine systems
  • robust control
  • wave dynamics
  • maneuverability
  • marine robotics
  • Pirajuba project
  • control strategies

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