Design of Diving System Controller for an Autonomous Underwater Vehicle

摘要

A diving system control problem for an autonomous underwater vehicle (AUV) is considered. Linearized decoupled model is used to represent the kinetics/dynamics of the system for diving control. A single sensor is used to estimate the unmeasured state through diving system control structure. Two controller design schemes are defined and used for steady-state tracking and noise reduction. A proportional derivative (PD) controller and pole placement with estimator approach are adopted to synthesize the control law. The selection of the desired closed-loop pole and initial condition are discussed. Performance of the controller based on the desired specification and steady-state tracking is examined using simulation and its results are discussed.