Fault-Tolerant and Guaranteed Cost Control Based on the Feedback Linearization of Autonomous Underwater Vehicle

In paper of the second-order nonlinear heading control system of autonomous underwater vehicle, this paper has realized partial linearization of system using the method of input - output feedback linearization. In the zero dynamic stable situation, the performance controller guaranteed is made by linearized subsystem with using linear matrix inequality. Fault-tolerant control has been realized, when the sensor breaks down, through the method of closed-loop system coefficient matrix´s characteristic value analyzed. The result of simulation had proven that the controller designed can maintain the asymptotic stability of closed-loop system, and have certain performance.