Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1726776 | Ocean Engineering | 2011 | 8 Pages |
Abstract
Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output Hâ control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials.
Related Topics
Physical Sciences and Engineering
Engineering
Ocean Engineering
Authors
Jan Petrich, Daniel J. Stilwell,