Journal
OCEAN ENGINEERING
Volume 38, Issue 1, Pages 197-204Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2010.10.007
Keywords
Autonomous underwater vehicles; Robust attitude control; Fin-mixing; Actuator and sensor allocation; H-infinity synthesis; Loop shaping
Funding
- National Science Foundation [IIS-0238092]
- Office of Naval Research [N00014-03-1-0444]
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Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output H-infinity control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials. (C) 2010 Elsevier Ltd. All rights reserved.
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