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

Volume

5

fYear

2011

fDate

12-14 Aug. 2011

Firstpage

2439

Lastpage

2442

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/EMEIT.2011.6023535

Filename

6023535