Robust Trajectory Tracking Control for AUV System Based on Fractional-Order PD Controller

被引：0
|
作者：
Li, Sainan [1 ]
Liu, Lu [1 ]
Liu, Mingyong [1 ]
Zhang, Shuo [2 ]
Yang, Yang [1 ]
Wang, Xuchen [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Marine Engn, Xian 710072, Shaanxi, Peoples R China
[2] Northwestern Polytech Univ, Dept Appl Math, Xian 710072, Shaanxi, Peoples R China
来源：
OCEANS 2018 MTS/IEEE CHARLESTON | 2018年
关键词：
AUV; trajectory tracking; fractional order PD controller; robustness;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
Ocean contains plentiful resources. It is the secondary living space for human being. Autonomous underwater vehicle (AUV) has motility to hover, rotate, and so on, so it can accomplish underwater missions autonomously. Control system is one of the most important systems in AUV. In this paper, a fractional-order PD controller is designed for a 6 DOF (Degree of Freedom) AUV system to improve its robustness and trajectory tracking performance. The controller design algorithm is proposed based on gain crossover frequency, phase margin and robustness specifications. The dosed-loop control system with the proposed controller can achieve both robustness and satisfactory tracking performance.
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页数：6
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