Composite hovering control of underwater vehicles via variable ballast systems

In this paper, a composite hovering control scheme is proposed to improve the disturbance rejection performance of underwater vehicles via variable ballast systems (VBSs). A nonlinear disturbance observer (NDOB) based feedforward controller, which estimates and then compensates the resultant force o...

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Bibliographic Details
Published inJournal of marine science and technology Vol. 25; no. 3; pp. 659 - 666
Main Authors Bi, Anyuan, Feng, Zhengping
Format Journal Article
LanguageEnglish
Published Tokyo Springer Japan 01.09.2020
Springer
Springer Nature B.V
Subjects
Analysis
Automotive Engineering
Ballast
Control
Control stability
Control systems
Control theory
Disturbance observers
Engineering
Engineering Design
Engineering Fluid Dynamics
Feedback control
Feedforward control
Hovering
Mechanical Engineering
Nonlinear systems
Offshore Engineering
Original Article
Rejection
Underwater vehicles
Hovering control
Lyapunov stability
Variable ballast systems
Underwater vehicles
Nonlinear disturbance observer
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Summary:In this paper, a composite hovering control scheme is proposed to improve the disturbance rejection performance of underwater vehicles via variable ballast systems (VBSs). A nonlinear disturbance observer (NDOB) based feedforward controller, which estimates and then compensates the resultant force of external disturbances, is augmented to the conventional proportional plus derivative (PD) based feedback control system. Both stability and convergence of the overall system have been guaranteed via Lyapunov analysis. Simulation results show that the NDOB based composite hovering control system exhibits more desirable performance in disturbance rejection than conventional PD control system.
ISSN:0948-4280
1437-8213
DOI:10.1007/s00773-019-00670-z