ROBUST H-INFINITY AUXILIARY DRIVING HEADING CONTROL FOR A UUV IN LOW SPEED MODE

Zhang Wei, Yanbin Teng, Shilin Wei, Shouyi Hu

References

  1. [1] Z.P. Yan, H.M. Yu, & S.P. Hou. Diving control of underactuated unmanned undersea vehicle usingintegral-fast terminal sliding mode control. Journal of Central South University, 23(5), 2016,1085-1094.
  2. [2] Z.P. Yan, H.M. Yu, W. Zhang, et al. Globally finite-time stable tracking control of underactuatedUUVs. Ocean Engineering, 107(01), 2015, 132-146.
  3. [3] W. Zhang, M.C. Zhang, Y. Guo, T. Chen, & Z.P. Yan, An approach for UUV tracking the movingmothership in the recovery stage. Journal of Harbin Engineering University, 36(6), 2015, 795-800.
  4. [4] W. Zhang, Y.B. Teng, H.T. Chen, & C.X. Yu, On the robust model predictive control method ofdynamic positioning to line for UUV recovery. IEEE Conf. on 2016 MTS/IEEE Oceans, Monterey,CA, 1-6.
  5. [5] W. Zhang, Z.C. Liang, X.X. Sun, Y.B. Teng, X.S. Song, & Z.P. Yan, PATH FOLLOWINGCONTROL FOR AN UNDER-ACTUATED UUV BASED ON ADAPTIVE SLIDING MODECONTROL, International Journal of Robotics and Automation, 32(5), 2017, 458-470.
  6. [6] J.P. Zhao, J.J. Zhou, S.X. Yang, & W. Zhang, A DYNAMIC VELOCITY REGULATIONAPPROACH TO PLANAR TRAJECTORY TRACKING CONTROL OF UNDERACTUATEDAUVs, International Journal of Robotics and Automation, 32(5), 2017, 500-508.
  7. [7] H.S. Xiong, X.Q. Bian, & X.C. Shi, Simulation of AUV Heading Control System Using IntegralVariable Structure Control Principle, Ship Engineering, 2005, 27(05), 30-33. (in Chinese)
  8. [8] Q. Yang, H. Su, G.Y. Tang, & D.X. Gao, Wave disturbance rejection for AUV heading control basedon internal-model-principle. Chinese Control and Decision Conference 2016, Yinchuan, China 2016,1506-1511.
  9. [9] G.V. Lakhekar, & R.G. Roy, Heading control of an underwater vehicle using dynamic fuzzy slidingmode controller, IEEE International Conference on Circuits, Power and Computing Technologies,Kumara Coil, INDIA, 2015, 1448-1454.
  10. [10] M.H. Khodayari, S. Balochian, Modeling and control of autonomous underwater vehicle (AUV) inheading and depth attitude via self-adaptive fuzzy PID controller, Journal of Marine Science andTechnology, 2015, 20(3), 559-578.
  11. [11] A. Khan, S.S.A. Ali, F. Meriaudeau, A.S. Malik, L.S. Soon, & T.N. Seng, Visual feedback-basedheading control of autonomous underwater vehicle for pipeline corrosion inspection, InternationalJournal of Advanced Robotic Systems, 14(3), 2017, 1-13.
  12. [12] B. Li, & T.C. Su, Nonlinear heading control of an autonomous underwater vehicle with internalactuators, Ocean Engineering, 125, 2016, 103-112.
  13. [13] M. Wu, Y. He, & J.H. She, Robust Control Theory, Beijing: Higher Education Press.2010. (inChinese)
  14. [14] S. Islam, X.P. Liu, A. EI Saddik, J. Dias, L.D. Seneviratne, ROBUST BILATERAL SHAREDAUTONOMOUS SYSTEMS WITH CONSTANT INPUT INTERACTION FORCE WITH TIMEVARYING DELAY, International Journal of Robotics and Automation, 31(4), 2016, 281-289.
  15. [15] A. Carrasco-Elizalde, P. Goldsmith, ROBUST ADAPTIVE VISUAL SERVOING OF A ROBOTARM, International Journal of Robotics and Automation, 30(4), 2015, 345-356.
  16. [16]Z. Chen, B. Yao, & Q.F. Wang,  -Synthesis-Based Adaptive Robust Control of Linear MotorDriven Stages With High-Frequency Dynamics: A Case Study, IEEE/ASME Transactions onMechatronics, 20(3), 2015, 1482-1490.
  17. [17] D.Q. Zhu, M. Mei, & B. Sun, THE TRACKING CONTROL OF UNMANNED UNDERWATERVEHICLES BASED ON MODEL PREDICTIVE CONTROL, International Journal of Robotics andAutomation, 32(4), 2017, 351-359.
  18. [18] G.Q. Xia, A. Zhao, H.Y. Wu, & J. Liu, ADAPTIVE ROBUST OUTPUT FEEDBACKTRAJECTORY TRACKING CONTROL FOR SHIPS WITH INPUT NONLINEARITIES,International Journal of Robotics and Automation, 31(4), 2016, 341-353.
  19. [19] Y.S. Luo, X.P. Wen, & S.W. Li, H∞ heading control of AUV based on state observers, Proc. 2010International Colloquium on Computing, Communication, Control, and Management (CCCM2010),Yangzhou, China, 2010, 52-57.
  20. [20] L. Cutipa, & C. Juan, Robust control of an under actuated AUV, IFAC Proceedings Volumes, 45(27),2012, 138-143.
  21. [21] A. Nag, S.S. Patel, K. Kishore, S.A. Akbar, A robust H-infinity based depth control of an autonomousunderwater vehicle, Proc. 2013 International Conference on Advanced Electronic Systems, Pilani,India, 2013, 68-73.
  22. [22] D.P. Li, Ship Moving and Model Building, Harbin: Harbin Engineering University Press, 1999. (inChinese)
  23. [23] M.L. Huang, Robust Control Theory and Application, Harbin: Harbin Institute of Technology Press,2007. (in Chinese)
  24. [24] H.S. Xiong, & Z.P. Yan, A hydrodynamic coefficients reckon method and its application to robustheading control for underwater robot, Proc. of the 29th Chinese Control Conference, Beijing, China,2010, 3219-3223.

Important Links:

Go Back