Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle
Source abstract
Abstract
This paper proposes a Negative-buoyancy Quad Tilt-rotor Autonomous Underwater Vehicle (NQTAUV), for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme. First, the structure of NQTAUV is illustrated, a mathematical model based on the Rodrigues parameters is proposed, and the attitude-tracking error model is derived. To simplify the disturbance-observer design procedure, a disturbance observer with a single parameter was designed to estimate the disturbance torque acting on the vehicle. The controller was designed to track the target attitude, and the stability of the whole system is analyzed. Finally, the performance of the proposed method was validated by three experiments. The primary benefit of the proposed method is the simplicity of its tuning and implementation.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Adaptive Control of Nonlinear Systems · Distributed Control Multi-Agent Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
State Key Laboratory of Ocean Engineering, Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China
Funding
National Natural Science Foundation of the National Research and Development of major scientific instruments · National Natural Science Foundation of China · National Key Research and Development Program of China · State Oceanic Administration People's Republic of China and National High Technology Research and Development Program of China
References (33)
Show source-provided references
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