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

• Published in: Shanghai 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
• Language: English
• 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

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...