Resilient guaranteed cost diving depth control of AUV

Author

Luo, Yuesheng ; Li, Shiwei ; Qi, Xu ; Zhang, Xingyan ; Wen, Xiuping ; Gong, Xinping

Author_Institution

Nat. Defence Key Lab. of Autonomous Underwater Vehicle Technol., Harbin Eng. Univ., Harbin, China

fYear

2010

fDate

20-23 June 2010

Firstpage

2149

Lastpage

2153

Abstract

This paper is to concern the resilient guaranteed cost state feedback controller of autonomous underwater vehicles (AUVs) in vertical plane. Basing on the established dynamic model, this paper linearizes the nonlinear model at vertical plane with the assumption that the hydrodynamic parameters of the nonlinear vehicle model are precisely known. Then we get the singular system of AUV. By using linear matrix inequality (LMI) and MATLAB technique, a resilient guaranteed cost controller is designed. In the end, simulations are given to verify the effectiveness of the proposed methods.

Keywords

linear matrix inequalities; mobile robots; remotely operated vehicles; spatial variables control; state feedback; underwater vehicles; AUV; MATLAB; autonomous underwater vehicle; diving depth control model; hydrodynamic parameters; linear matrix inequality; nonlinear vehicle model; resilient guaranteed cost state feedback controller; Costs; Hydrodynamics; Linear matrix inequalities; MATLAB; Mathematical model; Nonlinear dynamical systems; Remotely operated vehicles; State feedback; Underwater vehicles; Vehicle dynamics; AUV control; linear matrix inequality; resilient guaranteed cost control; singular systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2010 IEEE International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-5701-4

Type

conf

DOI

10.1109/ICINFA.2010.5512196

Filename

5512196