Scholarlink

A robust attitude feedback controller is proposed for large angle maneuvering attitude tracking problem of AUVs. In order to avoid Euler angle singularity and quaternion unwinding phenomenon, a special orthogonal group SO(3) is used to construct AUVs attitude equation. The attitude error function of SO(3) is constructed, and a kinematic error convergence equation is designed. Considering the uncertainty of AUVs model and the influence of ocean current disturbances, a nonlinear disturbance observer is designed, and the Lyapunov method is used to design the AUV dynamic feedback control law. The effectiveness of the proposed control algorithm is verified through numerical simulation. The results indicate that, under the influence of model uncertainty and external disturbances, the proposed controller can quickly converge the attitude of AUVs to the desired attitude.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Robust Attitude Control of AUVs with Large Angle on SO(3)

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Yuliang Wang,
  • Yiping Li,
  • Peiyan Gao,
  • Hongbin Zhang,
  • Chunlei Guo

摘要

A robust attitude feedback controller is proposed for large angle maneuvering attitude tracking problem of AUVs. In order to avoid Euler angle singularity and quaternion unwinding phenomenon, a special orthogonal group SO(3) is used to construct AUVs attitude equation. The attitude error function of SO(3) is constructed, and a kinematic error convergence equation is designed. Considering the uncertainty of AUVs model and the influence of ocean current disturbances, a nonlinear disturbance observer is designed, and the Lyapunov method is used to design the AUV dynamic feedback control law. The effectiveness of the proposed control algorithm is verified through numerical simulation. The results indicate that, under the influence of model uncertainty and external disturbances, the proposed controller can quickly converge the attitude of AUVs to the desired attitude.