Title :
Mixed H2/H∞ control with regional pole placements for underwater vehicle systems
Author :
Kim, Jong Hae ; Kap Rai Lee ; Cho, Yong Chul ; Ho Lee, Hyung ; Park, Hong Bae
Author_Institution :
Sensor Technol. Res. Center, Kyungpook Nat. Univ., Taegu, South Korea
Abstract :
Proposes the mixed H2/H∞ controller design method with regional pole placements according to the 3 step guidance courses for underwater vehicle systems in horizontal motion and vertical motion, respectively. The change of hydrodynamics, time delays, and disturbances are considered as uncertainties of the system. The full nonlinear simulation including initial leveling part, guidance, autopilot, actuator, etc., shows that the proposed controllers are efficient in the sense of new strategy for underwater vehicle systems
Keywords :
H∞ control; MIMO systems; closed loop systems; control system synthesis; delays; feedback; hydrodynamics; motion control; pole assignment; robust control; transfer function matrices; uncertain systems; underwater vehicles; autopilot; disturbances; full nonlinear simulation; guidance; horizontal motion; mixed H2/H∞ control; regional pole placements; time delays; vertical motion; Actuators; Control systems; Delay effects; Design methodology; Hydrodynamics; Motion control; Navigation; State feedback; Uncertainty; Underwater vehicles;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878776
