TITLE

NONLINEAR ROBUST OUTPUT FEEDBACK CONTROL OF SUBMERSIBLES VIA MODELING ERROR COMPENSATION

AUTHOR(S)
NAMBISAN, PRADEEP R.; SINGH, SAHJENDRA N.
PUB. DATE
December 2007
SOURCE
Systems Science;2007, Vol. 33 Issue 4, p27
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
This paper treats the design of a nonlinear robust dive-plane control system for multivariable submersibles equipped with bow and stem hydroplanes. It is assumed that the vehicle parameters and the hydrodynamic coefficients are not known, and that disturbance forces due to the sea wave are acting on the vehicle. For the design, the depth and pitch angle are chosen as output variables. Using nonlinear input-output (pitch angle and depth) map inversion, a robust nonlinear output feedback control law for the trajectory control of the pitch angle and depth is derived. For synthesizing the robust inverse control law, the unknown functions and unmeasurable variables are estimated using a high-gain observer. It is shown that in the closed-loop system, the asymptotic tracking of the depth and pitch angle trajectories is accomplished. Simulation results are presented which show precise dive-plane maneuvers in spite of uncertainty in the system parameters and disturbance forces due to the sea waves.
ACCESSION #
43901487

 

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