Application of linearization via state feedback to heading control for Autonomous Underwater Vehicle

Most designs for heading controller adopted Taylor linearization technique and neglected its nonlinear factors. For this reason, the accuracy of heading control for autonomous underwater vehicle (AUV) was lower. In order to solve this problem and enhance the accuracy, robustness and stability for heading control system, a nonlinear model of AUV in horizontal plane was established, which include uncertainties. Based on linearization via state feedback, a linear model of AUV was obtained at the operating point, and a robust heading controller was designed with closed-loop gain shaping algorithm. The computer simulation was used to demonstrate the robust controller designed via state feedback, has a better performance than the controller, which based on a linear model using Taylor linearization technique.