| H_∞ Autopilot Design for Autonomous Underwater Vehicles |
| |
| 引用本文： | 冯正平.H_∞ Autopilot Design for Autonomous Underwater Vehicles[J].上海交通大学学报(英文版),2010,15(2):194-198. |
| |
| 作者姓名： | 冯正平 |
| |
| 作者单位： | School of Naval Architecture;Ocean and Civil Engineering;Shanghai Jiaotong University;Institute of Sound and Vibration Research;University of Southampton;Southampton SO17 1BJ;United Kingdom; |
| |
| 基金项目： | the Scientific Research Foundation forthe Returned Overseas Chinese Scholars,State Education Ministry |
| |
| 摘 要： | The design approach of H∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing H∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respecti...
|
| 关 键 词： | autonomous underwater vehicle (AUV) autopilot H∞ control weighting function |
| 本文献已被 CNKI 维普 SpringerLink 等数据库收录！ |
