Resilient Guaranteed Cost Diving Depth Control for Nonlinear Singular Time-Delay AUV System

Author

Luo, Yuesheng ; Li, Shiwei ; Fu, Lirong ; Wen, Xiuping ; Gong, Xinping

Author_Institution

Nat. Defence Key Lab. of Autonomous Underwater Vehicle Technol., Harbin Eng. Univ., Harbin, China

Volume

1

fYear

2010

fDate

26-28 Aug. 2010

Firstpage

103

Lastpage

107

Abstract

This paper is to concern the resilient guaranteed cost controller of autonomous underwater vehicles (AUVs) in vertical surface movement system. In this paper the system is a class of nonlinear singular time-delay systems with uncertainties. The uncertainties are not only in the systematic matrix but also in the controller gain. Based on linear matrix inequalities (LMIs), a resilient guaranteed cost controller is designed. In the end, through the simulation to the AUV vertical surface movement systems, the result illustrates the effectiveness of the design method.

Keywords

control system synthesis; costing; delays; linear matrix inequalities; nonlinear control systems; remotely operated vehicles; singular optimal control; uncertainty handling; underwater vehicles; autonomous underwater vehicle; controller gain; linear matrix inequalities; nonlinear singular time delay AUV system; resilient guaranteed cost controller; systematic matrix; vertical surface movement system; Control systems; Cost function; Linear matrix inequalities; Presses; Symmetric matrices; Uncertainty; AUV; LMIs; nonlinear singular time-delay systems; resilient guaranteed cost control; robust stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2010 2nd International Conference on

Conference_Location

Nanjing, Jiangsu

Print_ISBN

978-1-4244-7869-9

Type

conf

DOI

10.1109/IHMSC.2010.33

Filename

5590479