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Mathematical Problems in Engineering
Volume 2017, Article ID 8506381, 9 pages
Research Article

Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment

1College of Information Science and Engineering, Ocean University of China, Qingdao 266100, China
2College of Automation and Electronic Engineering, Qingdao University of Science & Technology, Qingdao 266042, China

Correspondence should be addressed to Gong-You Tang; nc.ude.cuo@gnatg

Received 28 April 2016; Accepted 26 January 2017; Published 29 March 2017

Academic Editor: Huaguang Zhang

Copyright © 2017 Qing Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To deal with the disturbances of wave and current in the heading control of Autonomous Underwater Vehicles (AUVs), an optimal disturbances rejection control (ODRC) approach for AUVs in shallow water environment is designed to realize this application. Based on the quadratic optimal control theory, the AUVs heading control problem can be expressed as a coupled two-point boundary value (TPBV) problem. Using a recently developed successive approximation approach, the coupled TPBV problem is transformed into solving a decoupled linear state equation sequence and a linear adjoint equation sequence. By iteratively solving the two equation sequences, the approximate ODRC law is obtained. A Luenberger observer is constructed to estimate wave disturbances. Simulation is provided to demonstrate the effectiveness of the presented approach.