Title :
LPV/ℋ∞ control of an Autonomous Underwater Vehicle (AUV)
Author :
Roche, Emilie ; Sename, Olivier ; Simon, Daniel
Author_Institution :
NeCS team, INRIA Rhone-Alpes, St. Ismier, France
Abstract :
This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV), using the ℋ∞ approach for Linear Parameter Varying (LPV) polytopic systems. This method seems to be adapted to this kind of system because of the important non-linearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model of the AUV considered for the study, an LPV model was built, regarding the mass of the vehicle as unique varying parameter. Then the methodology of the control law applied is exposed and simulation results are presented. In particular, a comparison with the ℋ∞ approach will show the interest of the method in terms of control performance.
Keywords :
H∞ control; autonomous underwater vehicles; control nonlinearities; hydrodynamics; linear parameter varying systems; nonlinear control systems; robust control; uncertain systems; AUV; LPV polytopic systems; LPV/ℋ∞ control law; autonomous underwater vehicle; control performance; hydrodynamic parameters; linear parameter varying polytopic systems; nonlinear model; robust control; system nonlinearities; system uncertainties; vehicle mass; Computational modeling; Equations; Linear systems; Mathematical model; Time factors; Underwater vehicles; Vehicles;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
