水下无人潜航器航向H∞鲁棒容错控制器设计

U6; In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem co...

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Published in船舶与海洋工程学报（英文版） Vol. 9; no. 1; pp. 87 - 92
Main Authors 程相勤, 曲镜圆, 严浙平, 边信黔
Format Journal Article
LanguageChinese
Published 2010
Subjects
navigation control
gain variations
AUV
LMI
robust H∞ fault-tolerant control
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Summary:U6; In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞, robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
ISSN:1671-9433
1993-5048
DOI:10.1007/s11804-010-8052-x