Two-Stage Scheme for Disturbance Rejection Hovering Control of Underwater Vehicles

A two-stage model-independent hovering control scheme for underwater vehicles, which are subject to unknown yet constant external disturbance, to eliminate steady-state depth error is proposed. Proportional-derivative (PD) state feedback control law is adopted as the ballast mass planner at the firs...

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Bibliographic Details
Published inShanghai jiao tong da xue xue bao Vol. 27; no. 3; pp. 375 - 382
Main Authors Bi, Anyuan, Feng, Zhengping, Zhu, Yuchen, Deng, Xu
Format Journal Article
LanguageEnglish
Published Shanghai Shanghai Jiaotong University Press 01.06.2022
Springer Nature B.V
Subjects
Architecture
Computer Science
Control theory
Electrical Engineering
Engineering
Feedback control
Hovering
Life Sciences
Materials Science
Proportional derivative
Rejection
State feedback
Underwater vehicles
variable ballast systems
A
disturbance rejection
TP 273
Lyapunov stability
underwater vehicles
hovering control
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Summary:A two-stage model-independent hovering control scheme for underwater vehicles, which are subject to unknown yet constant external disturbance, to eliminate steady-state depth error is proposed. Proportional-derivative (PD) state feedback control law is adopted as the ballast mass planner at the first stage for the vehicle to reach both hydrostatic balance and a steady depth. The residual depth error is then removed by an additional disturbance rejection control at the second stage. Global asymptotic stability of the whole system is guaranteed via Lyapunov approach. The effectiveness of the proposed scheme is illustrated by the simulation of diving control of an underwater vehicle with hydraulic variable ballast system.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:1007-1172
1674-8115
1995-8188
DOI:10.1007/s12204-021-2341-1