Identification state feedback control for the depth control of the studied underwater semi-submersible vehicle

Abstract

This study focuses on the depth control of an unmanned semi-submersible vehicle (USV), the submersible depth of which should not exceed 3 meters to make the depth control performance robust to environmental disturbances. Depth control performance, including overshoot values and static state error of depth, should be limited within pre-determined limits; otherwise, a venture issue may occur in the USV system. Therefore, achieving the desired performance even with unexpected sea wave disturbances to the USV system remains a challenge. Moreover, some model parameters are unknown. The control parameters of the improved identification state feedback control are presented for the USV diving plane control. Lake trials are performed to validate that the suggested controller has good control performances and strong immunity to couple state surge speed and the lake environments. Keywords-unmanned semi-submersible vehicle; identificationcontrol; multi-model switching technology; depth control; sea trial Engineering Research center of Process and Equipment for Renewable Energy, Eas China Institute of Technology (No.