Anti-disturbance-Control-For-an-Underwater-Vehicle-In-Shallow-Wavy-Water_2011文档.pdf

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Anti-disturbance-Control-For-an-Underwater-Vehicle-In-Shallow-Wavy-Water_2011文档.pdf

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Anti-disturbance-Control-For-an-Underwater-Vehicle-In-Shallow-Wavy-Water_2011文档

Available online at Available online at Procedia Engineering Procedia Engineering 00 (2011) 000–000 Procedia Engineering 15 (2011) 915 – 921 /locate/procedia Advanced in Control Engineering and Information Science Anti-disturbance Control For an Underwater Vehicle In Shallow Wavy Water a a a a,b a Jun Luo , Zhijie Tang , Yan Peng , Shaorong Xie , Tingting Cheng , Hengyu Lia,a* aSchool of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 20072,China bState Key Laboratory of Robotics, Shenyang 110016, China Abstract Attitude Control for an underwater vehicle working in shallow wavy water is an important capability. In shallow water this mission most likely will be disturbed by the large surge induced hydrodynamic forces acting on the underwater vehicle. In this paper, the second order wave drift force affecting severely the underwater vehicle in shallow water are presented. On the basis of wave force analysis, three dimension disturbances caused by wavy surgy water are measured and a control system using least squares multi-order data fitting polynomial prediction and fuzzy compensation combined with PID controll