Robust design framework for an underwater vehicle motion controller

被引：0
|
作者：
Folcher, JP [1 ]
机构：
[1] Lab Informat Signaux & Syst Sophia Antipolis, F-06509 Sophia Antipolis, France
来源：
OCEANS 2002 MTS/IEEE CONFERENCE & EXHIBITION, VOLS 1-4, CONFERENCE PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
O42 [声学];
学科分类号：
070206 ; 082403 ;
摘要：
In this paper, an applicative example of the loop shaping control method based on H-infinity optimization is presented. The approach is used to synthesize a dynamic output feedback controller for the underwater robot Phantom 500 subject to disturbances, actuators saturation and plant uncertainties. Numerical experiments show that the reduced order controller ensures satisfactory closed loop performances and robustness. The validation of the heading controller at sea is in progress.
引用
收藏
页码：173 / 179
页数：7
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