ROBUST H-INFINITY AUXILIARY DRIVING HEADING CONTROL FOR A UUV IN LOW SPEED MODE

Wei Zhang, Yanbin Ten, Shilin Wei, Shouyi Hu, and Zheping Yan

References

  1. [1] Z.P. Yan, H.M. Yu, and S.P. Hou, Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control, Journal of Central South University, 23(5), 2016, 1085–1094.
  2. [2] Z.P. Yan, H.M. Yu, W. Zhang, B. Li, and J. Zhou, Globally finite-time stable tracking control of underactuated UUVs, Ocean Engineering, 107(01), 2015, 132–146.
  3. [3] W. Zhang, M.C. Zhang, Y. Guo, T. Chen, and Z.P. Yan, An approach for UUV tracking the moving mothership in the recovery stage, Journal of Harbin Engineering University, 36(6), 2015, 795–800.
  4. [4] W. Zhang, Y.B. Teng, H.T. Chen, and C.X. Yu, On the robust model predictive control method of dynamic positioning to line for UUV recovery, IEEE Conf. on 2016 MTS/IEEE Oceans, Monterey, CA, 2016, 1–6.
  5. [5] W. Zhang, Z.C. Liang, X.X. Sun, Y.B. Teng, X.S. Song, and Z.P. Yan, Path following control for an under-actuated UUV based on adaptive sliding mode control, International Journal of Robotics and Automation, 32(5), 2017, 458–470.
  6. [6] J.P. Zhao, J.J. Zhou, S.X. Yang, and W. Zhang, A dynamic velocity regulation approach to planar trajectory tracking control of underactuated AUVs, International Journal of Robotics and Automation, 32(5), 2017, 500–508.
  7. [7] H.S. Xiong, X.Q. Bian, and X.C. Shi, Simulation of AUV heading control system using integral variable structure control principle, Ship Engineering, 27(05), 2005, 30–33 (in Chinese).
  8. [8] Q. Yang, H. Su, G.Y. Tang, and D.X. Gao, Wave disturbance rejection for AUV heading control based on internal-modelprinciple, Chinese Control and Decision Conference 2016, Yinchuan, China, 2016, 1506–1511.
  9. [9] G.V. Lakhekar and R.G. Roy, Heading control of an underwater vehicle using dynamic fuzzy sliding mode controller, IEEE International Conf. on Circuits, Power and Computing Technologies, Kumara Coil, India, 2015, 1448–1454.
  10. [10] M.H. Khodayari and S. Balochian, Modeling and control of autonomous underwater vehicle (AUV) in heading and depth attitude via self-adaptive fuzzy PID controller, Journal of Marine Science and Technology, 20(3), 2015, 559–578.
  11. [11] A. Khan, S.S.A. Ali, F. Meriaudeau, A.S. Malik, L.S. Soon, and T.N. Seng, Visual feedback-based heading control of autonomous underwater vehicle for pipeline corrosion inspection, International Journal of Advanced Robotic Systems, 14(3), 2017, 1–13.
  12. [12] B. Li and T.C. Su, Nonlinear heading control of an autonomous underwater vehicle with internal actuators, Ocean Engineering, 125(2016), 2016, 103–112.
  13. [13] M. Wu, Y. He, and J.H. She, Robust control theory (Beijing: Higher Education Press, 2010) (in Chinese).
  14. [14] S. Islam, X.P. Liu, A. EI Saddik, J. Dias, and L.D. Seneviratne, Robust bilateral shared autonomous systems with constant input interaction force with time varying delay, International Journal of Robotics and Automation, 31(4), 2016, 281–289.
  15. [15] A. Carrasco-Elizalde and P. Goldsmith, Robust adaptive visual servoing of a robot arm, International Journal of Robotics and Automation, 30(4), 2015, 345–356.
  16. [16] Z. Chen, B. Yao, and Q.F. Wang, µ-synthesis-based adaptive robust control of linear motor driven stages with highfrequency dynamics: a case study, IEEE/ASME Transactions on Mechatronics, 20(3), 2015, 1482–1490.
  17. [17] D.Q. Zhu, M. Mei, and B. Sun, The tracking control of unmanned underwater vehicles based on model predictive control, International Journal of Robotics and Automation, 32(4), 2017, 351–359.
  18. [18] G.Q. Xia, A. Zhao, H.Y. Wu, and J. Liu, Adaptive robust output feedback trajectory tracking control for ships with input nonlinearities, International Journal of Robotics and Automation, 31(4), 2016, 341–353.
  19. [19] Y.S. Luo, X.P. Wen, and S.W. Li, H∞ heading control of AUV based on state observers, Proc. 2010 International Colloquium on Computing, Communication, Control, and Management (CCCM2010), Yangzhou, China, 2010, 52–57.
  20. [20] L. Cutipa and C. Juan, Robust control of an under actuated AUV, IFAC Proceedings Volumes, 45(27), 2012, 138–143.
  21. [21] A. Nag, S.S. Patel, K. Kishore, and S.A. Akbar, A robust H-infinity based depth control of an autonomous underwater vehicle, Proc. 2013 International Conference on Advanced Electronic Systems, Pilani, India, 2013, 68–73.
  22. [22] D.P. Li, Ship moving and model building (Harbin: Harbin Engineering University Press, 1999) (in Chinese).
  23. [23] M.L. Huang, Robust control theory and application (Harbin: Harbin Institute of Technology Press, 2007) (in Chinese).
  24. [24] H.S. Xiong and Z.P. Yan, A hydrodynamic coefficients reckon method and its application to robust heading control for underwater robot, Proc. of the 29th Chinese Control Conference, Beijing, China, 2010, 3219–3223.

Important Links:

Go Back