Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity

T.I. Fossen, M. Blanke

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

99 Citationer (Scopus)

Resumé

Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water velocity can be estimated with good accuracy. In addition, the output feedback integral controller shows superior performance and robustness compared to a conventional shaft speed controller.
OriginalsprogEngelsk
TidsskriftIEEE Journal of Oceanic Engineering
Vol/bind25
Udgave nummer2
Sider (fra-til)239-253
Antal sider14
ISSN0364-9059
StatusUdgivet - apr. 2000

Citer dette

@article{8e2f17d66c5d410d8a4acf17f5b4cce8,
title = "Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity",
abstract = "Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water velocity can be estimated with good accuracy. In addition, the output feedback integral controller shows superior performance and robustness compared to a conventional shaft speed controller.",
author = "T.I. Fossen and M. Blanke",
year = "2000",
month = "4",
language = "English",
volume = "25",
pages = "239--253",
journal = "I E E E Journal of Oceanic Engineering",
issn = "0364-9059",
publisher = "IEEE",
number = "2",

}

Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity. / Fossen, T.I.; Blanke, M.

I: IEEE Journal of Oceanic Engineering, Bind 25, Nr. 2, 04.2000, s. 239-253.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

T1 - Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity

AU - Fossen, T.I.

AU - Blanke, M.

PY - 2000/4

Y1 - 2000/4

N2 - Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water velocity can be estimated with good accuracy. In addition, the output feedback integral controller shows superior performance and robustness compared to a conventional shaft speed controller.

AB - Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water velocity can be estimated with good accuracy. In addition, the output feedback integral controller shows superior performance and robustness compared to a conventional shaft speed controller.

M3 - Journal article

VL - 25

SP - 239

EP - 253

JO - I E E E Journal of Oceanic Engineering

JF - I E E E Journal of Oceanic Engineering

SN - 0364-9059

IS - 2

ER -