LMI-based design of robust controllers for an underwater vehicle

被引：0
|
作者：
Kajiwara, H
Koterayama, W
Nakamura, M
Yugawa, S
机构：
来源：
PROCEEDINGS OF THE SEVENTH (1997) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL II, 1997 | 1997年
关键词：
underwater vehicle; hydrodynamic coefficients; multi-model based design; robust control;
D O I：
暂无
中图分类号：
X [环境科学、安全科学];
学科分类号：
08 ; 0830 ;
摘要：
The paper is concerned with a robust control problem for an underwater vehicle with uncertainties of hydrodynamic coefficients. Based on sensitivity analysis of hydrodynamic coefficients, a linear model with 4 vertices is introduced. The problem is formulated in the framework of multi-model based design of H-proportional to control law with pole region constraints, and solved by an interior-point method numerically. Some successful simulation and experimental results are shown.
引用
收藏
页码：51 / 56
页数：6
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