Constrained finite time optimal controller for the depth plane motion of an autonomous underwater vehicle

  • Authors:

  • George Nikolakopoulos;Nikolaos J. Roussos

  • Affiliations:

  • Hellenic Navy Research Center (GETEN), Athens, Attiki, Greece;Hellenic Navy Research Center (GETEN), Athens, Attiki, Greece

  • Venue:
  • MIC '07 Proceedings of the 26th IASTED International Conference on Modelling, Identification, and Control
  • Year:
  • 2007

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Abstract

In this paper a Constrained Finite Time Optimal Controller (CFTOC) for depth plane motion of an Autonomous Underwater Vehicle (AUV) is presented. The controller is designed based on a simplified linearized model that describes the rigid body dynamics of the AUV and it is able to take under consideration factors that degrade the performance of the controlled vehicle such as: a) the physical and mechanical constraints of the system that in the sequence are translated as constraints in the states of the model, the control effort, and the system's response, b) the disturbances introduced by the sensing elements, and c) the additive uncertainty due to modelling errors. The utilized model of the AUV includes all the external forces and moments produced by the hydrostatics, the hydrodynamic lift and drag, the added mass, the control inputs of the vehicle propeller and fins. These factors are all defined in terms of vehicles coefficients in the AUV's model. The proposed controller is applied in simulations and multiple results that prove the efficacy of the proposed scheme are presented.