Depth control of a submersible vehicle under a seaway using a noiseestimator

摘要

This paper presents a new design method for submarine depthcontrol. An autopilot strategy based on a noise estimator and an optimalcontroller is proposed so that the depth keeping of a submersiblevehicle at slow speed under a rough sea is improved. A Luenbergerobserver estimates the disturbances due to the large waves, and this isfed forward into a linear quadratic Gaussian (LQG) optimal controlstrategy. Simulation results show how the vertical plane movement of thesubmarine near the surface of a choppy sea is improved