Artículo
Control of an autonomous underwater vehicle subject to robustness constraints
Fecha de publicación:
2018
Editorial:
International Federation of Automatic Control
Revista:
IFAC-PapersOnLine
ISSN:
2405-8963
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
In this paper, we present a method to compute a control law for an Autonomous Underwater Vehicle (AUV) subject to external disturbances. The control law’s design objectives are formulated as H∞ objectives used to synthesize a robust controller. Then, a robustness analysis of AUV model uncertainties is performed without conservatism with interval analysis and global optimization in order to validate the control law. We emphasize the advantage of our approach by comparing it with two other classical design methods with simulations and experiments.
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Articulos(LEICI)
Articulos de INSTITUTO DE INVESTIGACIONES EN ELECTRONICA, CONTROL Y PROCESAMIENTO DE SEÑALES
Articulos de INSTITUTO DE INVESTIGACIONES EN ELECTRONICA, CONTROL Y PROCESAMIENTO DE SEÑALES
Citación
Rosendo, Juan Luis; Monnet, Dominique; Clement, Benoit; Garelli, Fabricio; Ninin, Jordan; Control of an autonomous underwater vehicle subject to robustness constraints; International Federation of Automatic Control; IFAC-PapersOnLine; 51; 25; 2018; 322-327
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