Pitch and Yaw Position Control of an AUV Using Immersion and Invariance-Part II

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI:10.1016/j.ifacol.2024.05.041

Ravishankar P. Desai, Narayan S. Manjarekar

引用次数: 0

Abstract

Part I of this paper introduced a tracking control law based on the Immersion and In-variance (I&I) technique. This paper focuses on the stability analysis of the proposed controller, which constitutes the central contribution of this work. The stability is established through the application of Lyapunov theory. Additionally, the robustness of the proposed control approach in the context of parametric uncertainties and underwater disturbances using simulated studies is assessed. These simulations utilize the ODRA-I AUV's experimentally validated pitch and yaw motion parameters. Furthermore, comparative evaluations are conducted to benchmark the performance of our suggested control law against established controllers.

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利用沉浸和不变量控制自动潜航器的俯仰和偏航位置--第二部分

本文第一部分介绍了基于浸入和内方差（I&I）技术的跟踪控制法。本文的重点是对所提出的控制器进行稳定性分析，这也是本文的核心贡献。稳定性是通过应用 Lyapunov 理论建立起来的。此外，还通过模拟研究评估了所提出的控制方法在参数不确定性和水下干扰情况下的鲁棒性。这些模拟利用了经实验验证的 ODRA-I AUV 的俯仰和偏航运动参数。此外，还进行了比较评估，以确定我们建议的控制法与现有控制器的性能基准。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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