AUTONOMOUS UNDERWATER VEHICLE ROBUST CONTROL | ||||
| The International Conference on Electrical Engineering | ||||
| Article 61, Volume 5, 5th International Conference on Electrical Engineering ICEENG 2006, May 2006, Page 1-9 PDF (269.79 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/iceeng.2006.33660 | ||||
 View on SCiNiTO | ||||
| Author | ||||
| G. A. Elnashar | ||||
| Egyptian Armed Forces. | ||||
| Abstract | ||||
| ABSTRACT This paper discusses the autonomous underwater vehicle (AUV) control performance under uncertainty using two different methods, linear quadratic (LQ) servo with command following and sliding mode control (SMC). In spite of the uncertainty in our evaluations of the hydrodynamic forces, it is fortunate that the use of feedback control is able to compensate for this general lack of knowledge and to provide commands to actuators that control and stabilize the motion of underwater vehicles. Robustness is obtained by using feedback of key motion variables (wind, waves, and current) as measured by sensors to drive actuators which, in turn, manipulate the vehicle's motion so that changes in the behavior of the vehicle can be automatically compensated. In order to successfully recover or launch a vehicle it will be preferred for the vehicle to have the capability to compensate for this motion. This paper attempts to investigate a means by which a vehicle may be made to track, in depth, the dynamic motion for launch and recover at some significant depth below the surface. Design techniques for robust controllers typically use frequency response or state space techniques to specify control gains and even include observers and model based compensators to replace missing sensors with virtual sensors. While these techniques have definable robustness properties, sliding mode control and (LQ) servo with command following - techniques that can compensate for known nonlinear behavior - are convenient and has equally definable robustness properties. This paper conducts robust control using (LQ) servo with command following and sliding mode control (SMC) which have been found useful and convenient in dealing with the uncertainty and general nonlinear nature of the models developed previously. | ||||
| Keywords | ||||
| Autonomous underwater vehicle; Robust Control; LQ servo command control; Sliding Mode Control | ||||
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