Research on the structure singular value robust control of underwater vehicle

Author

Liu, Kaizhou ; Guo, Wei ; Wang, Xiaohui ; Feng, Xisheng

Author_Institution

State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China

fYear

2010

Firstpage

6446

Lastpage

6450

Abstract

In order to fulfill high accurately control of HOV´ dynamic positioning on the condition of multiple uncertainties, and overcome the guarantee of the H_∞ robust controller, a robust controller based on structure singular value theory was designed for deep sea HOV. Dynamic positioning test and comparison test between difference control arithmetic were carried out on the semi-physical simulation platform. The results showed that the controller designed take effect on the disturbance and parameter changing of HOV.

Keywords

H^∞ control; control system synthesis; position control; robust control; singular value decomposition; underwater vehicles; H_∞ robust controller; HOV dynamic positioning; difference control arithmetic; human occupied vehicle; semiphysical simulation platform; structure singular value robust control; underwater vehicle; Automation; Periodic structures; Robots; Robust control; Underwater vehicles; Vehicle dynamics; Vehicles; DP (Dynamic Positioning); HOV (Human Occupied Vehicle); Mixed Sensitive; Robust Control; SSV (Structure Singular Value);

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554292

Filename

5554292