Name
Abstract | ||
|---|---|---|
The main purpose of this paper is to study the heading controlling of an unmanned underwater vehicle (UUV) in low speed. The robust H-infinity auxiliary driving heading controller in low speed mode is presented. The robust H-infinity control theory and the four degrees of freedom mathematical model are presented. Then, a simulation for heading change in different speed is designed to test the heading controller. Finally, to prove the feasibility of the controller, a real pool experiment is carried on. Through the results, the controller is effective and feasible. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.2316/J.2019.206-5477 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION |
Keywords | Field | DocType |
UUV, robust H-infinity control, low speed heading control, auxiliary driving | H-infinity methods in control theory,Control theory,Control engineering,Mathematics | Journal |
Volume | Issue | ISSN |
34 | 2 | 0826-8185 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wei Zhang | 1 | 287 | 35.43 |
| Yanbin Teng | 2 | 2 | 1.41 |
| Shilin Wei | 3 | 0 | 0.68 |
| Shouyi Hu | 4 | 0 | 0.34 |
| Zheping Yan | 5 | 10 | 8.07 |