A hydrodynamic coefficients reckon method and its application to robust heading control for underwater robot

Author

Xiong Huasheng ; Yan Zheping

Author_Institution

Inst. of Nucl. & New Energy Technol., Tsinghua Univ., Beijing, China

fYear

2010

fDate

29-31 July 2010

Firstpage

3219

Lastpage

3223

Abstract

In this paper, a hydrodynamic coefficients reckon method for underwater robot is provided. Based on the reckoned hydrodynamic coefficients, a mathematical model of underwater robot was setup, which is suitable to the heading controller design for the underwater robot. A heading controller for the underwater robot was designed using modern H_∞ control theory, and the H_∞ controller was used to control the heading of the underwater robot in tank tests. The tank tests results shows that the H_∞ controller for the heading control of the underwater robot is effective, and its control precision is high. The controller is robust and it is helpful to rejecting disturbances on the underwater robot.

Keywords

H^∞ control; hydrodynamics; mobile robots; robust control; underwater vehicles; H_∞ control theory; hydrodynamic coefficients reckon method; robust heading control; underwater robot; Automation; Control theory; Electronic mail; Hydrodynamics; Mathematical model; Robots; Robustness; H∞ control; Heading Control; Hydrodynamic Coefficient; Reckon; Underwater Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5572098