文章基本信息

标题：Nonlinear H ∞ Control for an Autonomous Underwater Vehicle in the Vertical Plane ∗
本地全文：下载
作者：Subhasish Mahapatra ; Bidyadhar Subudhi ; Raja Rout 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：1
页码：391-395
DOI：10.1016/j.ifacol.2016.03.085
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a nonlinear path following control algorithm has been illustrated for Autonomous Underwater Vehicle (AUV) in the Vertical Plane. The nonlinear H∞state feedback control technique has been adopted to track the desired path in the dive plane. The design of the control algorithm is obtained by solving a Hamilton-Jacobi-Isaacs inequality with a Taylor's series approach for the control of AUV. The developed algorithm provides a significant performance in robustness and internal stability by attenuating the disturbance. The performance of the developed control scheme has been reported by carrying out the simulation using MATLAB/Simulink environment.
关键词：KeywordsPath followingAUVNonlinear ControlNonlinear H∞ControlState Feedback