H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

被引：22

作者：

Cheng X.-Q. ^{[1
]}

Qu J.-Y. ^{[1
]}

Yan Z.-P. ^{[1
]}

Bian X.-Q. ^{[1
]}

机构：

[1] Department of Automation, Harbin Engineering University

来源：

Journal of Marine Science and Application | 2010年 / 9卷 / 1期

关键词：

AUV; Gain variations; LMI; Navigation control; Robust H[!sub]∞[!/sub] fault-tolerant control;

D O I：

10.1007/s11804-010-8052-x

中图分类号：

学科分类号：

摘要：

In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness. © 2010 Harbin Engineering University and Springer Berlin Heidelberg.

引用

页码：87 / 92

页数：5

共 9 条

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