Controller Design for Decoupled Model of an Autonomous Underwater Vehicle

摘要

A vertical plane control problem for an autonomous underwater vehicle (AUV) is considered. Linearized decoupled model is used to represent the dynamics of the system for vertical plane control. Three different feedback control schemes are used to synthesize the control law. The proposed control scheme design gives full control to place the dominant closed-loop poles at desired speed and damping. The selection of dominant closed-loop poles is based on the control effort should be minimal. Performance of the controller is examined using simulation. Simulation results are discussed.