Attitude Control Simulation of Deep-Sea Submerged Buoy Using Four Thrusters

作者：Ge Dehong^*; Zhu Hai

来源：International Conference on Computer Science and Mechanical Automation (CSMA 2015), 2015-10-23 to 2015-10-25.

DOI：10.1109/CSMA.2015.61

• attitude control
• four thrusters
• input-output linearization
• simulation

The sea surveying instruments ask the deep-sea submerged buoy for the ability of adjusting its attitude. The paper deals with the attitude control issue of the deep-sea submerged buoy under the sea current. Firstly, the six degree of freedom motion equation of the submerged buoy is predigested to two vertical section models. Secondly, based on the input-output linearization technique, a state feedback control law is presented for submerged buoy's attitude control system. The controller is implemented by four thrusters. Finally, numerical simulations are presented to validate the proposed controller. It is shown that the proposed controller exhibits relatively high effectiveness.

• 出版日期2015
• 单位中国人民解放军海军潜艇学院