Nonlinear Feedforward and Feedback Control Design for Autonomous Underwater Glider 被引量：4

Nonlinear Feedforward and Feedback Control Design for Autonomous Underwater Glider

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摘要 Underwater gliders are highly efficient,buoyancy-driven,and winged autonomous underwater vehicles.Their dynamics are multivariable nonlinear systems with unstable internal dynamics and thus their motion control is a significant challenge.To improve the inherent efficiency and enhance the behavior of the underwater glider over a wide operating regime,a nonlinear feedforward and feedback controller was developed.The nonlinear feedforward control design is based on a new stable inversion technique which determines a causal and bounded solution for the unstable internal dynamics.The feedback control law was designed by a quadratic optimal control method.Simulation results show that the derived control system is able to deal with nonminimum phase system and successfully achieves the tracking of planned output trajectories from initial to final conditions.Furthermore,the control effort is very low,which means the glider with limited power storage has longer range and higher endurance. Underwater gliders are highly efficient,buoyancy-driven,and winged autonomous underwater vehicles.Their dynamics are multivariable nonlinear systems with unstable internal dynamics and thus their motion control is a significant challenge.To improve the inherent efficiency and enhance the behavior of the underwater glider over a wide operating regime,a nonlinear feedforward and feedback controller was developed.The nonlinear feedforward control design is based on a new stable inversion technique which determines a causal and bounded solution for the unstable internal dynamics.The feedback control law was designed by a quadratic optimal control method.Simulation results show that the derived control system is able to deal with nonminimum phase system and successfully achieves the tracking of planned output trajectories from initial to final conditions.Furthermore,the control effort is very low,which means the glider with limited power storage has longer range and higher endurance.

作者杨海马捷

机构地区 State Key Laboratory of Ocean Engineering

出处《Journal of Shanghai Jiaotong university(Science)》 EI 2011年第1期11-16,共6页 上海交通大学学报（英文版）

基金 the National Natural Science Foundation of China(No. 50979058) the Special Research Fund for the Doctoral Program of Higher Education(No. 20090073110012)

关键词 underwater glider feedforward control stable inversion internal dynamics underwater glider feedforward control stable inversion internal dynamics

分类号 P754.3 [天文地球—海洋科学]

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共引文献10

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