Robust Nonlinear Geometric Steering Tracker for an Autopilot Submarine
AbstractAn Autopilot submarines is an Unmanned Underwater Vehicles(UUVs) that can perform controlled maneuvers and trajectory tracking dictated either by a pilot on ground or as a part of a preprogrammed mission. The extreme environment conditions of underwater and the resulting significant variation in the system parameters engenders a challenging control problems for these submarines. This paper presents the formulation and implementation of a robust nonlinear geometric yaw tracker for an autopilot submarine. The UUV carries its onboard Micro Elector-Mechanical Systems (MEMS) based Inertial Measurement Unit (IMU) with data fusion algorithm. The yaw command reference tracking simulation is performed. The system performance is investigated under disturbances. Based on the simulation and the experimental results, this nonlinear geometric tracking approach proves to be a novel and effective technique for UUV Yaw control, disturbance rejection and robustness against parameter variations.
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