Robust control for an autonomous underwater vehicle that suppresses pitch and yaw coupling

✍ Scribed by Jan Petrich; Daniel J. Stilwell

• Publisher: Elsevier Science
• Year: 2011
• Tongue: English
• Weight: 641 KB
• Volume: 38
• Category: Article
• ISSN: 0029-8018
• DOI: 10.1016/j.oceaneng.2010.10.007

✦ Synopsis

Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output H 1 control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials.