The robust H-infinity control of UUV with Riccati equation solution interpolation

被引：20

作者：

Zhang, Wei ^{[1
]}

Teng, Yanbin ^{[1
]}

Wei, Shilin ^{[1
]}

Xiong, Huasheng ^{[1
]}

Ren, Hongliang ^{[2
]}

机构：

[1] Harbin Engn Univ, Sch Automat, Harbin 150001, Heilongjiang, Peoples R China

[2] Natl Univ Singapore, Dept Biomed Engn, Singapore, Singapore

来源：

OCEAN ENGINEERING | 2018年 / 156卷

基金：

中国国家自然科学基金;

关键词：

Interpolation of the Riccati equation solution; Robust H-Inflnity control; UUV control; Heading control; Depth control; AUTONOMOUS UNDERWATER VEHICLE;

D O I：

10.1016/j.oceaneng.2018.02.004

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

The main purpose of this study was to develop a method for a robust H-infinity control of an unmanned underwater vehicle (UUV) based on the interpolation of the Riccati equation solution. This method combined the robust H-infinity control theory and results of the interpolation of the Riccati equation solution. The UUV's velocity, heading, and depth controllers were derived and obtained. A simulation and experiment in a lake were conducted to verify the effectiveness of the developed controllers. Results indicated that the controllers were feasible, effective, and robust in managing the control of a UUV.

引用

页码：252 / 262

页数：11

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