Control of an underwater vehicle using H/sub infinity / synthesis

Abstract

Pmcoodlng. of the 30th C o d " Bdghton, England I)rermkr 1991 On klslon and ControlAbstract: This paper presents the results of a design exercise in which recent developments in ' H , synthesis theory were applied to the design of a controller for an Autonomous Underwater Vehicle (AUV). The problem statement requires the design of a position and attitude control system for the vehicle to achieve precise trajectory following. The major steps in the synthesis procedure were as follows. A detailed nonlinear dynamic model of the AUV was derived, and an operating point for nominal design was selected. After linearization around the nominal operating point, a multivariable controller was designed using standard techniques of ' H , theory. The performance of the controller was evaluated in simulations with a full nonlinear model of the vehicle.

Autopilot control synthesis for path tracking maneuvers of underwater vehicles

“…Consequently, the standard optimal H ∞ control problems (Vidyasagar and Kimura, 1986;Doyleet et al, 1989;McFarlane and Glover, 1990;Kaminer et al, 1991;You and Chai, 1998;Moreira and Soares, 2008) can be written as:…”

“…This raises questions about the stability and robustness, and the vehicle control system must cope with these uncertainties successfully. The 2 H and H ∞ control approach was introduced for the robust stabilization of the uncertain models (Vidyasagar and Kimura, 1986;Doyle et al, 1989;Kaminer et al, 1991;Moreira and Soares, 2008). Furthermore, the vehicle controller was designed by linear matrix inequalities with H ∞ approach (You and Chai, 1998).…”

Adaptive Critic Control of Autonomous Underwater Vehicles Using Neural Networks

“…There has been an increasing interest in underwater vehicles in recent years [1][2][3][4][5][6][7][8][9][10][11][12][13]. The applications in the area of autonomous underwater vehicles (AUVs) include discovering offshore oil fields, salvaging underwater wrecks, structure inspection, geographical surveys and military missions.…”

The Design and Analysis of Robust Feedback Systems

“…D. student of the PI, we have applied some of the robust control theory to design of controllers for airplanes [46]. We also have a collaboration with Dr. A. Pascoal, Portugal, on applying robust control methods to an autonomous underwater vehicle [39]. In this application, our control !awq will ho implemented on the physical vehicle which is being constructed now.…”