Energy-based motion control of a slender hull unmanned underwater vehicle

OCEAN ENGINEERING

卷:104

Article

Valentinis, Francis¹  Donaire, Alejandro²  Perez, Tristan³ 

[1] Def Sci & Technol Org, Maritime Div, Dept Def, Fishermans Bend, Vic, Australia

[2] Univ Newcastle, Sch Engn, Callaghan, NSW 2308, Australia

[3] Queensland Univ Technol Gardens Point, Fac Sci & Engn, Brisbane, Qld 4000, Australia

关键词: Unmanned underwater vehicle;    Nonlinear systems;    Energy-based control;    Port-Hamiltonian systems;   

DOI  :  10.1016/j.oceaneng.2015.05.014

来源: Elsevier

【 摘 要 】

This paper presents a motion control system for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle. The feedback control strategy is developed using the Port-Hamiltonian theory. By shaping of the target dynamics (desired dynamic response in closed loop) with particular attention to the target mass matrix, the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of stable uncontrolled states. Throughout the design, the insight of the physical phenomena involved is used to propose the desired target dynamics. Integral action is added to the system for robustness and to reject steady disturbances. This is achieved via a change of coordinates that result in input-to-state stable (ISS) target dynamics. As a final step in the design, an anti-windup scheme is implemented to account for limited actuator capacity, namely saturation. The performance of the design is demonstrated through simulation with a high-fidelity model. Crown Copyright (C) 2015 Published by Elsevier Ltd. All rights reserved.

【 授权许可】

Free