H∞ autopilot design for an autonomous underwater vehicle

被引：0
|
作者：
Feng, ZP [1 ]
Allen, R [1 ]
机构：
[1] Univ Southampton, Inst Sound & Vibrat Res, Southampton SO17 1BJ, Hants, England
来源：
PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2 | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the H-infinity autopilot design for Subzero II -an Autonomous Underwater Vehicle. The autopilot comprises two sub-controllers: the longitudinal controller for the forward speed and depth, and the lateral controller for the heading angle. The design of sub-controllers is formulated as the problem of minimizing the mixed sensitivity function, and then solved by the LMI-based H-infinity method. The behaviour of the autopilot is assessed by simulations with a full nonlinear model of the vehicle.
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收藏
页码：350 / 354
页数：5
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