De-Xin Gao

Wave disturbance rejection for AUV heading control based on internal-model-principle

This paper presents an optimal internal model control (OIMC) algorithm for heading control problem of underactuated AUV systems affected by wave disturbances. Firstly, the AUV nonlinear system model is converted to the system model by differential homeomorphism. And the exosystem of wave force disturbances is obtained based on the Morison equation. Secondly, the disturbances compensator is designed by using internal model. And a new augmented system is constructed, by taking the system and the disturbances compensator in series. Then the optimal control problem of AUV nonlinear system is transformed into the optimal regulator design problem of an augmented system. The optimal internal model control law is designed according to the different quadratic performance index. Finally, the controller is applied to the heading control of AUV with wave force disturbances, and the results demonstrate the effectiveness and robustness of the controller.

Depth control for underactuated AUV in vertical plane using optimal internal model controller

To realize the optimal control of underactuated autonomous underwater vehicle (AUV) in vehicle plane with external disturbances, a optional internal model control (OIMC) is proposed with respect to the quadratic performance indexes. Firstly, the depth control model of underactuated AUV system and the wave model are proposed; then using internal model principle, the disturbances compensator is designed, which exactly offset the impact of external disturbances on the system, and the optional internal model control law is designed according to the different quadratic performance index, which is derived from the Riccati equation. Finally, the controller is applied to the dive plane control of AUV with wave force disturbances, and the results demonstrate the effectiveness and robustness of the controller.

Optimal output tracking control for chemical process of non-isothermal CSTR

This paper presents an optimal output tracking control method for a class of typical chemical reaction process of non-isothermal CSTR. Firstly, the model of nonlinear CSTR system is provided. Secondly, by using feedback linearization method, the nonlinear system is converted into a linear system. Then, the output tracking controller is designed, which guarantees that the output signal of the system can track the desired signal asymptotically. At last, the simulation results show the effectiveness of the method.