Title :
H∞ autopilot design for an autonomous underwater vehicle
Author :
Feng, Zhengping ; Allen, Robert
Author_Institution :
Inst. of Sound & Vibration Res., Southampton Univ., UK
Abstract :
This paper presents the H∞ autopilot design for Subzero II-an autonomous underwater vehicle. The autopilot comprises two sub-controllers: the longitudinal controller for the forward speed and depth, and the lateral controller for the heading angle. The design of sub-controllers is formulated as the problem of minimizing the mixed sensitivity function, and then solved by the LMI-based H∞ method. The behaviour of the autopilot is assessed by simulations with a full nonlinear model of the vehicle.
Keywords :
H∞ control; control system synthesis; matrix algebra; minimisation; sensitivity analysis; underwater vehicles; AUV; H∞ autopilot design; H∞ control; LMI-based H∞ method; Subzero II; autonomous underwater vehicle; depth control; forward speed control; heading angle control; lateral controller; longitudinal controller; mixed sensitivity function minimization; nonlinear model; subcontroller design; Hydrodynamics; Marine vehicles; Nonlinear control systems; Propellers; Remotely operated vehicles; Sea measurements; Surges; Testing; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Control Applications, 2002. Proceedings of the 2002 International Conference on
Print_ISBN :
0-7803-7386-3
DOI :
10.1109/CCA.2002.1040211
