Fault-tolerant and guaranteed cost control based on the feedback linearization of autonomous underwater vehicle

摘要：

In paper of the second-order nonlinear heading control system of autonomous underwater vehicle, this paper has realized partial linearization of system using the method of input - output feedback linearization. In the zero dynamic stable situation, the performance controller guaranteed is made by linearized subsystem with using linear matrix inequality. Fault-tolerant control has been realized,when the sensor breaks down, through the method of closed-loop system coefficient matrixs characteristic value analyzed. The result of simulation had proven that the controller designed can maintain the asymptotic stability of closed-loop system, and have certain performance.

关键词： autonomous underwater vehicle(AUV) feedback linearization linear matrix inequality(LM) guaranteed cost control fault-tolerant control

作者: Yuesheng Luo Xiuping Wen Lirong Fu Shiwei Li Mingye Zhou Xinping Gong

作者单位: National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle,Harbin Engineerin College of Automation,Harbin Engineering University Harbin,China College of Science,Harbin Engineering University

会议类型: 国际会议

会议名称: 2010 Second International Conference on Intelligent Human-Machine Systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

会议地点: 南京

会议语种:英文

页码: 169-173

在线出版日期: 2010-08-26（万方平台首次上网日期，不代表论文的发表时间）