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Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment
Joint Authors
Tang, Gong-You
Yang, Qing
Su, Hao
Gao, De-Xin
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-03-29
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
To deal with the disturbances of wave and current in the heading control of Autonomous Underwater Vehicles (AUVs), an optimal disturbances rejection control (ODRC) approach for AUVs in shallow water environment is designed to realize this application.
Based on the quadratic optimal control theory, the AUVs heading control problem can be expressed as a coupled two-point boundary value (TPBV) problem.
Using a recently developed successive approximation approach, the coupled TPBV problem is transformed into solving a decoupled linear state equation sequence and a linear adjoint equation sequence.
By iteratively solving the two equation sequences, the approximate ODRC law is obtained.
A Luenberger observer is constructed to estimate wave disturbances.
Simulation is provided to demonstrate the effectiveness of the presented approach.
American Psychological Association (APA)
Yang, Qing& Su, Hao& Tang, Gong-You& Gao, De-Xin. 2017. Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1192378
Modern Language Association (MLA)
Yang, Qing…[et al.]. Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment. Mathematical Problems in Engineering No. 2017 (2017), pp.1-9.
https://search.emarefa.net/detail/BIM-1192378
American Medical Association (AMA)
Yang, Qing& Su, Hao& Tang, Gong-You& Gao, De-Xin. Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1192378
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1192378