Dynamics modeling and motion control for high-speed underwater vehicles using H-infinity synthesis with anti-windup compensator  

作　　者：Phuc Duc Hong Bui Sam-Sang You Hwan-Seong Kim Sang-Do Lee 

机构地区：[1]Department of Mechanical Engineering,The University of Tulsa,Tulsa,OK 74104,United States [2]Division of Mechanical Engineering,Korea Maritime and Ocean University,Busan 49112,Republic of Korea [3]Division of Logistics Engineering,Korea Maritime and Ocean University,Busan 49112,Republic of Korea [4]Division of Navigation and Information System,Mokpo National Maritime University,Mokpo,Jeollanam-do 58628,Republic of Korea

出　　处：《Journal of Ocean Engineering and Science》2022年第1期84-91,共8页海洋工程与科学（英文）

摘　　要：The control synthesis of a high-speed supercavitating vehicle(HSSV)faces many difficulties such as the stability,control,and maneuvering with dynamical uncertainties due to parameter perturbations,exter-nal disturbances,unmodeled dynamics,measurement noises,and actuator constraints.Inspired by the HSSV dynamical analysis,this paper proposes the H∞(i.e."H-infinity")robust control synthesis to gen-erate a robust low-order controller,which is intended for real implementations to ensure active control actions.Particularly,the presented control scheme includes a feedback component and an anti-windup compensator.The anti-windup synthesis is to provide system stability under actuator saturations.Ex-tensive simulations show that the designed controller provides good performances with high robustness for vertical plane manoeuver while effectively eliminating planning forces,exogenous disturbances and noises as well as overcoming cavitator saturations.

关 键 词：Vehicle dynamics Planing force Vertical maneuver H-infinity control ANTI-WINDUP Actuator saturation 

分 类 号：TP1[自动化与计算机技术—控制理论与控制工程]