• DocumentCode
    2351613
  • Title

    H∞ autopilot design for an autonomous underwater vehicle

  • Author

    Feng, Zhengping ; Allen, Robert

  • Author_Institution
    Inst. of Sound & Vibration Res., Southampton Univ., UK
  • Volume
    1
  • fYear
    2002
  • fDate
    2002
  • Firstpage
    350
  • Abstract
    This paper presents the H∞ autopilot design for Subzero II-an autonomous underwater vehicle. The autopilot comprises two sub-controllers: the longitudinal controller for the forward speed and depth, and the lateral controller for the heading angle. The design of sub-controllers is formulated as the problem of minimizing the mixed sensitivity function, and then solved by the LMI-based H∞ method. The behaviour of the autopilot is assessed by simulations with a full nonlinear model of the vehicle.
  • Keywords
    H∞ control; control system synthesis; matrix algebra; minimisation; sensitivity analysis; underwater vehicles; AUV; H∞ autopilot design; H∞ control; LMI-based H∞ method; Subzero II; autonomous underwater vehicle; depth control; forward speed control; heading angle control; lateral controller; longitudinal controller; mixed sensitivity function minimization; nonlinear model; subcontroller design; Hydrodynamics; Marine vehicles; Nonlinear control systems; Propellers; Remotely operated vehicles; Sea measurements; Surges; Testing; Underwater vehicles; Vehicle dynamics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications, 2002. Proceedings of the 2002 International Conference on
  • Print_ISBN
    0-7803-7386-3
  • Type

    conf

  • DOI
    10.1109/CCA.2002.1040211
  • Filename
    1040211
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2351613