Dual-loop robust controller design for autonomous underwater vehicle under unknown environmental disturbances
SCIE
SCOPUS
- Title
- Dual-loop robust controller design for autonomous underwater vehicle under unknown environmental disturbances
- Authors
- Kim, M.; Joe, Hangil; Yu, Son-Ceol
- Date Issued
- 2016-03-03
- Publisher
- INST ENGINEERING TECHNOLOGY-IET
- Abstract
- A dual-loop robust controller is proposed for precise position control of an autonomous underwater vehicle under uncertain hydrodynamics and unknown disturbances. In the inner-loop, a time-delay controller is presented in which a time-delay estimator estimates uncertain hydrodynamics and unknown disturbances from its time-delayed information and cancels these, thereby reducing control efforts on internal dynamics considerably. In the outer-loop, the linear controller stabilises the position error of the AUV without prior knowledge on values of hydrodynamic parameters. The proposed dual-loop controller features simple structure and easy implementation because it does not require real-time estimation of hydrodynamics.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/38032
- DOI
- 10.1049/EL.2015.3809
- ISSN
- 0013-5194
- Article Type
- Article
- Citation
- Electronics Letters, vol. 52, no. 5, page. 350 - 352, 2016-03-03
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- There are no files associated with this item.
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