Title :
Input-output linearization design for dive-plane control of AUV
Author :
Jian Cao ; Yumin Su
Author_Institution :
State Key Lab. of Autonomous Underwater Vehicle, Harbin Eng. Univ., Harbin, China
Abstract :
This paper addresses the problem of a torpedo-type autonomous underwater vehicle (AUV) controlled in the vertical plane. Since there are two outputs of dive-plane dynamics model, the design of the controller is divided into two steps. And towards to the nonlinearity of the vertical plane dynamics model, we develop a state feedback control law which is based on the input-output linearization technique. Numerical simulation results are presented which show that the proposed controller performs high effectiveness and good transient performance.
Keywords :
control system synthesis; linearisation techniques; missile control; mobile robots; nonlinear control systems; remotely operated vehicles; state feedback; underwater vehicles; AUV; controller design; dive-plane control; dive-plane dynamics model; input-output linearization design; numerical simulation; state feedback control law; torpedo-type autonomous underwater vehicle control; transient performance; vertical plane dynamics model nonlinearity; Mathematical model; Simulation; Trajectory; Underwater vehicles; Vehicle dynamics; Vehicles; Zirconium; autonomous underwater vehicle (AUV); input-output linearization; nonlinear system; state feedback control;
Conference_Titel :
Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on
Conference_Location :
Harbin, Heilongjiang, China
Print_ISBN :
978-1-61284-087-1
DOI :
10.1109/EMEIT.2011.6023535
