Energy-efficient tracking control of X rudder AUV with rudder dynamics compensation

摘要

In this paper, an energy-efficient tracking control method is proposedfor a X rudder AUV. First, the mathematical model and trajectorytracking problem are presented. Then, an energy-efficient trackingcontroller is designed based on time-varying LOS guidance andfeedback dynamics control law. Besides, in order to achieve energyefficientX rudder allocation, a multi-objective optimization method isproposed. Moreover, the rudder error dynamics is considered andcompensated by rudder error disturbance observer. Finally,comparative numerical simulations are carried out to demonstrate therobustness and effectiveness of the proposed approach.