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
相关论文
共 50 条
  • [41] Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles
    Qiao, Lei
    Yi, Bowen
    Wu, Defeng
    Zhang, Weidong
    OCEAN ENGINEERING, 2017, 134 : 157 - 172
  • [42] LMI-Based passification for control of non-passive systems
    Kelkar, AG
    Mao, Y
    Joshi, SM
    PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, : 1271 - 1275
  • [43] An LMI approach to the design of a robust observer with application to a temperature control problem for space vehicle testing
    Mattei, M
    AUTOMATICA, 2001, 37 (12) : 1979 - 1987
  • [44] LMI-based linear parameter varying PID control design and its application to an aircraft control system
    Huang B.
    Lu B.
    Nagamune R.
    Li Q.
    Aerospace Systems, 2022, 5 (2) : 309 - 321
  • [45] Autonomous Underwater Vehicle Robust Path Tracking: Generalized Super-Twisting Algorithm and Block Backstepping Controllers
    Guerrero, J.
    Torres, J.
    Antonio, E.
    Campos, E.
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2018, 20 (02): : 51 - 63
  • [46] Robust Controllers Synthesis and Order Reduction of Unmanned Underwater Vehicle Submerging Control System with Interval Parametric Uncertainty
    Khozhaev, Ivan V.
    Gayvoronskiy, Sergey An.
    Ezangina, Tatiana A.
    IFAC PAPERSONLINE, 2019, 52 (21): : 224 - 229
  • [47] Robust dynamic inversion attitude control for miniature underwater vehicle
    Fang, Jing
    Shao, Zhi-Yu
    Feng, Shun-Shan
    Li, Yong-Ming
    Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 2015, 35 (12): : 1262 - 1266
  • [48] Tracking Control Design for Autonomous Underwater Vehicle using Robust Filter Approach
    Song, Yoong Siang
    Arshad, Mohd Rizal
    2016 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES (AUV), 2016, : 374 - 380
  • [49] Design of Suboptimal Robust Controllers Based on a Priori and Experimental Data
    Kogan, M. M.
    Stepanov, A. V.
    AUTOMATION AND REMOTE CONTROL, 2023, 84 (08) : 814 - 826
  • [50] Design of Suboptimal Robust Controllers Based on a Priori and Experimental Data
    M. M. Kogan
    A. V. Stepanov
    Automation and Remote Control, 2023, 84 : 814 - 826
12345