LMI-based anti-windup control for an underwater robot with propellers saturations

Author

Folcher, Jean-Pierre

Author_Institution

Univ. de Nice-Sophia Antipolis, Valbonne, France

Volume

1

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

32

Abstract

This paper addresses the steering control of an underwater robot in the presence of propellers saturation. A linear model with input saturation is established from the general equation of motion. A two-step LMI-based design procedure is presented. First, we seek a linear time invariant (LTI) which achieves tight nominal performance when the command input does not saturate. Then, an extra anti-wind up compensator is designed to ensure the absolute stability of the closed loop system against sector bounded nonlinearity. Existence conditions for the two control structures can be cast as optimization problems over linear matrix inequalities. Lastly, this approach is applied to design the steering controller for the Phanthom 500 underwater robot.

Keywords

closed loop systems; compensation; control nonlinearities; control system synthesis; linear matrix inequalities; optimisation; position control; remotely operated vehicles; stability; telerobotics; underwater vehicles; LMI based antiwindup control; Phanthom 500 underwater robot; antiwind up compensator design; closed loop system; equation of motion; linear matrix inequalities; linear time invariant; optimization problems; propeller saturations; sector bounded nonlinearity; stability; steering controller design; Control system synthesis; Control systems; Imaging phantoms; Propellers; Remotely operated vehicles; Robots; Stability; Surges; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on

Print_ISBN

0-7803-8633-7

Type

conf

DOI

10.1109/CCA.2004.1387183

Filename

1387183