Wei Zhang, Yanbin Ten, Shilin Wei, Shouyi Hu, and Zheping Yan
UUV, robust H-infinity control, low speed heading control, auxiliary driving
The main purpose of this paper is to study the heading controlling of an unmanned underwater vehicle (UUV) in low speed. The robust H-infinity auxiliary driving heading controller in low speed mode is presented. The robust H-infinity control theory and the four degrees of freedom mathematical model are presented. Then, a simulation for heading change in different speed is designed to test the heading controller. Finally, to prove the feasibility of the controller, a real pool experiment is carried on. Through the results, the controller is effective and feasible.
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