The adaptive robust hover control of Autonomous Underwater Helicopter in underwater pipeline

Abstract

AUV detection is currently the most convenient and fastest detection method. Although AUV inspection has been widely used, most of them are out-of-pipe inspection. At present, most of the AUVs detected in the tube are torpedo-shaped, while the disc-shaped AUV has not yet appeared. We propose a hovering control algorithm for the autonomous underwater helicopter (AUH) in underwater pipeline. In the presence of external interference, the robust controller is used to design the system controller, and the Lyapunov theory is used to prove the global asymptotic stability of the entire closed-loop system. The simulation and experiment verifies the robustness and stability of the proposed algorithm.