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Volume 28 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2020  >  28(3): 271-277
ZHAO Xu, GONG Shi-hua, YANG Jin. Disturbance Compensation Control for Unmanned Undersea Vehicle Based on LMI[J]. Journal of Unmanned Undersea Systems, 2020, 28(3): 271-277. doi: 10.11993/j.issn.2096-3920.2020.03.005
Citation: ZHAO Xu, GONG Shi-hua, YANG Jin. Disturbance Compensation Control for Unmanned Undersea Vehicle Based on LMI[J]. Journal of Unmanned Undersea Systems, 2020, 28(3): 271-277. doi: 10.11993/j.issn.2096-3920.2020.03.005
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Disturbance Compensation Control for Unmanned Undersea Vehicle Based on LMI

doi: 10.11993/j.issn.2096-3920.2020.03.005

  • Kunming Branch of the 705 Research Institute, China Shipbuilding Industry Corporation, Kunming 650118, China

  • Received Date: 2019-03-01
  • Rev Recd Date: 2019-05-31
  • Publish Date: 2020-06-30
    Abstract
  • As regards the problems that an unmanned undersea vehicle(UUV) is subjected to complex external disturbance, the calculation of hydrodynamic derivative is inaccurate, the rudder angle is restricted, and nonlinear dynamic exists, a disturbance compensation control law is designed based on the Lyapunov function and the unknown input observer(UIO) to observe the unmodeled dynamics. After considering the rudder angle saturation constraint and transforming the control law design process into the optimization problem of linear matrix inequality, real-time observation and compensation of unknown disturbance are realized. Simulation results show that the proposed method has the ability to compensate disturbance and improve control precision, which facilitates the course and depth control of UUV, effectively reduces the dependence of the control law design on the hydrodynamic derivative, and improves the oscillation characteristics of rudder angle under unknown disturbance.

     

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