H_∞ Autopilot Design for Autonomous Underwater Vehicles

作     者：冯正平 R. ALLEN 

作者机构：School of Naval ArchitectureOcean and Civil EngineeringShanghai Jiaotong University Institute of Sound and Vibration ResearchUniversity of SouthamptonSouthampton SO17 1BJUnited Kingdom 

基　　金：the Scientific Research Foundation forthe Returned Overseas Chinese Scholars State Education Ministry 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2010年第15卷第2期

页      码：194-198页

摘      要：The design approach of H∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing H∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respectively. To evaluate the design approach,it is then utilized to synthesize the autopilot for flight control of Subzero Ⅲ,a low cost test-bed for AUV control techniques. Both simulations and water trails verify the effectiveness of the design approach.

主 题 词：autonomous underwater vehicle (AUV) autopilot H∞ control weighting function 

学科分类：0711[理学-心理学类] 07[理学] 08[工学] 081101[081101] 0811[工学-水利类] 071102[071102] 081103[081103] 

核心收录：

D　O　I：10.1007/s12204-010-9528-1

馆 藏 号：203111108...