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<p>The deployment of Autonomous Underwater Vehicles (AUVs) for ocean observation is one of the important methods in marine scientific research. The stability of AUV attitude control determines the efficiency and safety of underwater operations. In practical systems, the actuators carried by AUVs have saturation, and the saturation of the actuators greatly affects the performance and stability of AUV attitude control. This article designs an anti-windup <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(H_{\infty }\)</EquationSource> </InlineEquation> robust state feedback controller and an anti-windup <InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(H_{\infty }\)</EquationSource> </InlineEquation> robust dynamic output feedback controller for the pitch attitude control of AUVs to solve the pitch attitude control problem of AUVs subject to input constraints. Firstly, building a Linear-parameter varying (LPV) model for the AUV. Then, we design two anti-windup <InlineEquation ID="IEq3"> <EquationSource Format="TEX">\(H_{\infty }\)</EquationSource> </InlineEquation> robust controllers based on LPV model. Simulation results verify the reasonable of LPV model and the effectiveness of proposed controllers. Proposed controllers can enable the system to quickly reach the desired attitude under input constraints.</p>

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Robust LPV pitch control of autonomous underwater vehicle with input constraints

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年5月11日

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  • Hongbin Zhang,
  • Yuliang Wang,
  • Qifeng Zhang,
  • Hao Chen,
  • Chunlei Guo,
  • Xiaoyong Wang

摘要

The deployment of Autonomous Underwater Vehicles (AUVs) for ocean observation is one of the important methods in marine scientific research. The stability of AUV attitude control determines the efficiency and safety of underwater operations. In practical systems, the actuators carried by AUVs have saturation, and the saturation of the actuators greatly affects the performance and stability of AUV attitude control. This article designs an anti-windup \(H_{\infty }\) robust state feedback controller and an anti-windup \(H_{\infty }\) robust dynamic output feedback controller for the pitch attitude control of AUVs to solve the pitch attitude control problem of AUVs subject to input constraints. Firstly, building a Linear-parameter varying (LPV) model for the AUV. Then, we design two anti-windup \(H_{\infty }\) robust controllers based on LPV model. Simulation results verify the reasonable of LPV model and the effectiveness of proposed controllers. Proposed controllers can enable the system to quickly reach the desired attitude under input constraints.