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

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.