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2019•Unpublished venueRequires access

Design of Variable Structure Attitude Control System for Unmanned Underwater Vehicle

Guanshan Liu, Jing Fang, Qiaogao Huang, Suhe Huang

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Abstract

For the feature that Unmanned underwater vehicle(UUV) model is coupling and nonlinear under some complex conditions, a variable structure attitude control method for UUV is proposed. The attitude model of UUV is transformed into large-scale interconnected system, and the attitude control system is designed by variable structure control method. The stability of the control system is verified by utilizing Lyapunov theory. The simulation results show that the designed control method has strong robustness.

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What this paper is about

For the feature that Unmanned underwater vehicle(UUV) model is coupling and nonlinear under some complex conditions, a variable structure attitude control method for UUV is proposed. The attitude model of UUV is transformed into large-scale interconnected system, and the attitude control system is designed by variable structure control method. The stability of the control system is verified by utilizing Lyapunov theory. The simulation results show that the designed control method has strong robustness.

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Available abstract

For the feature that Unmanned underwater vehicle(UUV) model is coupling and nonlinear under some complex conditions, a variable structure attitude control method for UUV is proposed. The attitude model of UUV is transformed into large-scale interconnected system, and the attitude control system is designed by variable structure control method. The stability of the control system is verified by utilizing Lyapunov theory. The simulation results show that the designed control method has strong robustness.

Key concepts: Unmanned underwater vehicle, Control theory (sociology), Robustness (evolution), Nonlinear system, Attitude control, Control system, Lyapunov stability, Variable structure control

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