TY - GEN
T1 - Robust optimal depth control of Hovering Autonomous Underwater Vehicle
AU - Song, Yoong Siang
AU - Arshad, Mohd Rizal
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/22
Y1 - 2017/12/22
N2 - This paper presents a robust optimal controller for a Hovering Autonomous Underwater Vehicle (HAUV) in station keeping. The proposed controller does not require added mass, hydrodynamic drag force, and buoyancy force information of the HAUV system. The proposed controller is a time invariant controller which combined optimal control technique and robust filter control technique. The optimal control technique is used to provide a minimum performance index in terms of the tracking error of the HAUV system. On the other hand, the robust filter control technique is used to compensate the effect of added mass, hydrodynamic drag force, buoyancy force, model nonlinearities, and external disturbances on the HAUV system. The proposed controller can reject the effects of waves on the HAUV system without high frequency oscillation on its force profile. Simulation results show that the proposed controller has maximum steady state error of 0.002 meter, error-squared performance index of 2.1, and control signal frequency of 0.1 Hertz.
AB - This paper presents a robust optimal controller for a Hovering Autonomous Underwater Vehicle (HAUV) in station keeping. The proposed controller does not require added mass, hydrodynamic drag force, and buoyancy force information of the HAUV system. The proposed controller is a time invariant controller which combined optimal control technique and robust filter control technique. The optimal control technique is used to provide a minimum performance index in terms of the tracking error of the HAUV system. On the other hand, the robust filter control technique is used to compensate the effect of added mass, hydrodynamic drag force, buoyancy force, model nonlinearities, and external disturbances on the HAUV system. The proposed controller can reject the effects of waves on the HAUV system without high frequency oscillation on its force profile. Simulation results show that the proposed controller has maximum steady state error of 0.002 meter, error-squared performance index of 2.1, and control signal frequency of 0.1 Hertz.
KW - Depth Control
KW - Hovering Autonomous Underwater Vehicle (HAUV)
KW - Optimal Control
KW - Robust Control
UR - http://www.scopus.com/inward/record.url?scp=85048186440&partnerID=8YFLogxK
U2 - 10.1109/I2CACIS.2017.8239056
DO - 10.1109/I2CACIS.2017.8239056
M3 - Conference Proceeding
AN - SCOPUS:85048186440
T3 - Proceedings - 2017 IEEE 2nd International Conference on Automatic Control and Intelligent Systems, I2CACIS 2017
SP - 191
EP - 195
BT - Proceedings - 2017 IEEE 2nd International Conference on Automatic Control and Intelligent Systems, I2CACIS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Conference on Automatic Control and Intelligent Systems, I2CACIS 2017
Y2 - 21 October 2017
ER -