Feedforward and Feedback Optimal Control of Autonomous Profiling Monitoring Underwater Vehicle with Disturbance
2014 ◽
Vol 602-605
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pp. 970-973
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Keyword(s):
The optimal control of autonomous profiling monitoring underwater vehicle (APMUV) is investigated. Firstly, dynamics equations in vertical plane with disturbances are constructed, and the equations are converted into a linear system by feedback linearization method and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. To solve the unpractical problem of the control law, we construct a disturbance observer to observe the system states to make a quick convergance of the observed system states. Numerical simulations show the effectiveness of the control scheme
1991 ◽
Vol 113
(1)
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pp. 14-21
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2021 ◽
A Successive Approximation Approach of Nonlinear Optimal Control with R-Rank Persistent Disturbances
2011 ◽
Vol 130-134
◽
pp. 1862-1866
2013 ◽
Vol 464
◽
pp. 279-284
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2012 ◽
Vol 466-467
◽
pp. 587-591
2016 ◽
Vol 13
(3)
◽
pp. 134
◽
Keyword(s):
2014 ◽
Vol 2014
◽
pp. 1-12
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