Resilient Guaranteed Cost Diving Depth Control of AUV

摘要：

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.

关键词： AUV control resilient guaranteed cost control linear matrix inequality singular systems

作者: Yuesheng Luo Shiwei Li Xu Qi Xingyan Zhang Xiuping Wen Xinping Gong

作者单位: National Defence Key Laboratory of Autonomous Underwater Vehicle Technology,Harbin Engineering University,Harbin 150001,China College of Science,Harbin Engineering University,Harbin 150001,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）