Non linear and robust control of underwater vehicles

M. Casado, F. Gonzalez
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Abstract

Underwater vehicles present a difficult control-system design due to their nonlinear dynamics, uncertain models, and the presence of disturbances that are difficult to measure or estimate. A multivariable design based on backstepping jointly with a simple optimization algorithm, that minimizes the energy consumption, is able to carry out the control of this system taking into account the uncertainties in the plant's parameters.
水下航行器的非线性鲁棒控制
由于水下航行器的非线性动力学、模型的不确定性以及存在难以测量或估计的干扰,使得水下航行器的控制系统设计变得困难。采用基于反推法的多变量设计与简单的优化算法相结合,可以在考虑装置参数不确定性的情况下对系统进行控制,使能耗最小。
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