Title :
Research on the structure singular value robust control of underwater vehicle
Author :
Liu, Kaizhou ; Guo, Wei ; Wang, Xiaohui ; Feng, Xisheng
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
Abstract :
In order to fulfill high accurately control of HOV´ dynamic positioning on the condition of multiple uncertainties, and overcome the guarantee of the H∞ robust controller, a robust controller based on structure singular value theory was designed for deep sea HOV. Dynamic positioning test and comparison test between difference control arithmetic were carried out on the semi-physical simulation platform. The results showed that the controller designed take effect on the disturbance and parameter changing of HOV.
Keywords :
H∞ control; control system synthesis; position control; robust control; singular value decomposition; underwater vehicles; H∞ robust controller; HOV dynamic positioning; difference control arithmetic; human occupied vehicle; semiphysical simulation platform; structure singular value robust control; underwater vehicle; Automation; Periodic structures; Robots; Robust control; Underwater vehicles; Vehicle dynamics; Vehicles; DP (Dynamic Positioning); HOV (Human Occupied Vehicle); Mixed Sensitive; Robust Control; SSV (Structure Singular Value);
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554292
