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 language | English |
|---|---|
| Pages (from-to) | 108-113 |
| Number of pages | 6 |
| Journal | IFAC Proceedings Volumes |
| Volume | 43 |
| Issue number | 20 |
| DOIs | |
| Publication status | Published - 30 Sept 2010 |
Funding
for financial support. The third author would like to thank the Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) for financial support. ★ This work has been funded by FAPESP from São Paulo state under the research project numbers 09/06726-8 and 09/10205-3.
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