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

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