Mixed H/sub 2//H/sub /spl infin// control with regional pole placements for underwater vehicle systems

Kim, Jong Hae; Lee, Kap Rai; Cho, Yong Chul; Lee, Hyung Ho; Park, Hong Bae

doi:10.1109/acc.2000.878776

Cited by 2 publications

References 4 publications

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Adaptive DOB control for AUVs

Zhao

Yuh

Choi

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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This paper presents the theory and experimental work of the adaptive plus disturbance observer (DOB) controller on underwater robot. This control scheme consists of DOB as an inner-loop compensator and a non-regressor based adaptive controller as an outer-loop controller. It is regressorfree, and is robust with respect to external disturbance as well as the variation of the nominal model used to construct DOB. The performance and characteristics of this controller are shown through comparison tests among four different controllers: PID controller, PID plus DOB controller, adaptive controller and adaptive plus DOB controller.

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Adaptive DOB control for AUVs

Zhao

Yuh

Choi

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Missile longitudinal autopilot design using a generalized extended state observer-based mixed H2/H∞ control method

Dong

Li²,

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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This work presents a novel robust control design approach for missile longitudinal autopilot under multiple disturbances and uncertainties. The uncertainties and disturbances of the missile dynamics are treated as a lumped disturbance based on the concept of equivalent input disturbance. Then a generalized extended state observer is employed to estimate the system states and the equivalent input disturbance in an integrated manner. These estimates are used to construct the state-feedback controller as well as to attenuate the effect of the exogenous disturbances and endogenous uncertainties. The state-feedback controller is obtained by solving the linear matrix inequalities of mixed [Formula: see text]/[Formula: see text] control problem, which provides an impressive flexibility to tune the controller to compromise between [Formula: see text] performance and [Formula: see text] performance. Closed-loop stability of the system under the presented controller-observer structure is also established. The proposed design tactfully circumvents the engineering implementation problems encountered by mixed [Formula: see text]/[Formula: see text] control, achieves strong robustness against disturbances and uncertainties, and does not involve any complicated nonlinear control methodologies. Numerical simulation results of nominal and perturbed performance comparisons with classic methods sufficiently demonstrate the feasibility and robustness of the proposed method.

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Mixed H/sub 2//H/sub /spl infin// control with regional pole placements for underwater vehicle systems

Cited by 2 publications

References 4 publications

Adaptive DOB control for AUVs

Adaptive DOB control for AUVs

Missile longitudinal autopilot design using a generalized extended state observer-based mixed H2/H∞ control method

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