Development of linear parameter varying control system for autonomous underwater vehicle

作者：Sutarto Hy; Budiyono Agus^*

来源：Indian Journal of Marine Sciences, 2011, 40(2): 275-286.

• Autonomous Underwater Vehicle
• Linear Parameter Varying
• Robust Control
• Linear Fractional Transformation

Development and application of Linear Parameter Varying (LPV) control system for robust longitudinal control system on an Autonomous Underwater Vehicle (AUV) are presented in the present study. LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. LPV control system combines LPV theory based upon Linear Matrix Inequalities (LMIs) and mu-synthesis to form a robust LPV control system. LPV control design is applied for a pitch control of the AUV to fulfill control design criteria on frequency and time domain. The final closed-loop system is tested for robust stability throughout the operational envelope.

• 出版日期2011-4