NDLI: Research of regional stability with robust for the depth tracking of AUV based on error space

Content Provider	IEEE Xplore Digital Library
Author	Bian Xinqian Zhou Jiajia Wang Hongjian Zhang Wei Jia Heming
Copyright Year	2011
Description	Author affiliation: Automatics School of Harbin Engineering University, 150001, China (Bian Xinqian; Zhou Jiajia; Wang Hongjian; Zhang Wei; Jia Heming)
Abstract	As to the requirements of tracking time variation signals for the Autonomous Underwater Vehicle (AUV) under unstructured uncertainties, the error space method is introduced to describe the depth control system for AUV. The nonlinear model of vertical movement was linearized at a specific operating point to get a concise error space model which is useful in simulation. In order to eliminate the unstructured uncertainties, a robust controller is designed based on Linear Matrix Inequality(LMI) region stability, which satisfies the requirements of H∞ performance and the regional stability constrains. Finally, the depth tracking of the AUV in time domain is carried out. The simulation results show that this controller has a strong ability to inhibit the interference of modeling error and measuring noise, meanwhile ensuring the system to track the time variation signals with characteristics of rapidity and robustness.
Starting Page	3595
Ending Page	3599
File Size	267212
Page Count	5
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Control engineering Error Space Aerospace electronics Regional Stability Constrains Autonomous Underwater Vehicle Linear Matrix Inequality(LMI) Robustness Stability analysis Linear matrix inequalities Underwater vehicles
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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