Robust Depth and Course Control of AUV Using LMI-based <TEX>$H_{infty}$</TEX> Servo Control

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Journal of the Korea Institute of Military Science and Technology 2000;3(1):38-46.

Robust Depth and Course Control of AUV Using LMI-based $H_{infty}$ Servo Control

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LMI에 기초한 $H_{infty}$ 서보제어를 이용한 AUV의 강인한 자동 심도 및 방향제어

양승윤, 김인수, 이만형

¹국방과학연구소
²부산대학교 지능기계공학과
³부산대학교 기계공학부

Abstract

In this paper, robust depth and course controllers of AUV(autonomous underwater vehicles) using LMI-based H$_{infty}$ servo control are proposed. The $H_{infty}$ servo problem is modified to an $H_{infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The robust depth and course controllers are designed to be satisfied the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under sea wave and tide disturbances. The performances of the designed controllers are evaluated by computer simulations, and these simulation results show the applicability of the proposed robust depth and course controller.

Key Words: AUV, LMI-based $H_{infty}$ Servo Control, Depth Control, Course Control