Abstract
This paper proposes a design of dish-shaped underwater vehicle with controllable full degree of freedom using only six thrusters, and gives out dynamic modeling in still water environment. Based on this model, a linear quadratic regulator with nonlinear compensation is proposed. The six degrees of freedom fully-actuated control of the underwater vehicle can be realized through its bidirection underwater thrusters, and the disturbance caused by the gravity moment can be suppressed. The simulation results show that the control algorithm can stably realize the six degrees of freedom state tracking, and the nonlinear compensation has a strong inhibitory effect on the gravity moment disturbance. The thruster layout designed in this paper also has certain guiding significance for the design of fully-actuated underwater vehicle.
| Translated title of the contribution | Nonlinear compensation LQR control of fully-actuated dish-shaped underwater vehicle |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 1783-1790 |
| Number of pages | 8 |
| Journal | Kongzhi Lilun Yu Yingyong/Control Theory and Applications |
| Volume | 41 |
| Issue number | 10 |
| DOIs | |
| State | Published - Oct 2024 |
| Externally published | Yes |