Title :
Simulation research of H ∞ filter for the pitch control of AUV
Author :
Bian, Xinqian ; Zhou, Jiajia ; Yan, Zheping ; Jia, Heming ; Peng, Shuping
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
A H ∞ filter is proposed to suppress the adverse effects generated by the measurement noise in the pitch control system of an autonomous underwater vehicle. A kinetic model of AUV´s pitch motion in vertical plane is established by linearizing the nonlinear model at a specified operating point. Based on LMI Lab, it is possible to design a global optimal H∞ filter for an accurate estimation of the contaminated states which are very important inputs to the feedback controller. It is reported that this filter is effective to eliminate the negative effects caused by measurement noise. And the accurate estimation to the system states means a lot for systems lacking disparate measurement.
Keywords :
H∞ control; feedback; filtering theory; linear matrix inequalities; nonlinear control systems; remotely operated vehicles; underwater vehicles; vehicle dynamics; AUV; LMI Lab; autonomous underwater vehicle; contaminated states; disparate measurement; feedback controller; global optimal H∞ filter; measurement noise; negative effects; nonlinear model; pitch control system; pitch motion; simulation research; Chaos; Control systems; Delay; Design methodology; Differential equations; Disruption tolerant networking; Filters; Nonlinear control systems; Oscillators; Stability criteria; H ∞ filter; autonomous underwater vehicle(AUV); convex optimization; pitch control;
Conference_Titel :
Control and Decision Conference (CCDC), 2010 Chinese
Conference_Location :
Xuzhou
Print_ISBN :
978-1-4244-5181-4
Electronic_ISBN :
978-1-4244-5182-1
DOI :
10.1109/CCDC.2010.5498556
