By Topic

The UUV heading control system based on adaptive robust PD control principle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Li Xu ; College of Automation, Harbin Engineering University, Heilongjiang Province, China ; Shijie Li ; Jian Xu ; Jie Zhao

For the UUV heading control, linear PD control is a simple and effective strategy, however, under most circumstances too large initial torque output is often provided to the rudder, and the maximum torque the rudder can bear is limited, which thus making the increase of the PD controller parameters as to further improve the heading control effects unavailable. In this paper, an adaptive robust PD controller for UUV heading system is designed to avoid excessive initial output torque. The computer simulation demonstrated that the designed controller is effective to eliminate the excessive initial output torque and external disturbance. Furthermore, the experiment for the heading control in Lake shows the feasibility and practicability of the proposed method.

Published in:

Information and Automation (ICIA), 2011 IEEE International Conference on

Date of Conference:

6-8 June 2011