Simulation Research of H ∞ Filter for the Pitch Control of AUV
A H ∞ filter is proposed to suppress the adverse effects generated by the measurement noise in the pitch control system of an autonomous underwater vehicle. A kinetic model of AUV’s pitch motion in vertical plane is established by linearizing the nonlinear model at a specified operating point. Based on LMI Lab, it is possible to design a global optimal H∞ filter for an accurate estimation of the contaminated states which are very important inputs to the feedback controller. It is reported that this filter is effective to eliminate the negative effects caused by measurement noise. And the accurate estimation to the system states means a lot for systems lacking disparate measurement.
autonomous underwater vehicle(AUV) H ∞ filter convex optimization pitch control
Xinqian Bian Jiajia Zhou Zheping Yan Heming Jia Shuping Peng
College of Automation, Harbin Engineering University, Harbin, 150001, China Harbin Institute of Technology, Harbin 150001, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
1788-1792
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）