Nonlinear compensation LQR control of fully-actuated dish-shaped underwater vehicle
XU Yi-hang
LIU Jian
WU Yong-bao
WANG Shan-dan
SUN Chang-yin
Abstract：This paper proposes a design of dish-shaped underwater vehicle with controllable full degree of freedom using only six thrusters,and gives out dynamic modeling in still water environment.Based on this model,a linear quadratic regulator with nonlinear compensation is proposed.The six degrees of freedom fully-actuated control of the underwater vehicle can be realized through its bidirection underwater thrusters,and the disturbance caused by the gravity moment can be suppressed.The simulation results show that the control algorithm can stably realize the six degrees of freedom state tracking,and the nonlinear compensation has a strong inhibitory effect on the gravity moment disturbance.The thruster layout designed in this paper also has certain guiding significance for the design of fully-actuated underwater vehicle.
Keywords：autonomous underwater vehiclelinear quadratic regulatorfully-actuated controlnonlinear compensation
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1783-1790 )