H∞ robust fault-tolerant controller design for an autonomous underwater vehicle’s navigation control system

Autor:	Zheping Yan, Xinqian Bian, Jing-yuan Qu, Xiang-qin Cheng
Rok vydání:	2010
Předmět:	Engineering business.industry Mechanical Engineering Ocean Engineering Control engineering Linear matrix Underwater vehicle H-infinity methods in control theory Fault tolerant controller Control theory Robustness (computer science) Control system business Actuator
Zdroj:	Journal of Marine Science and Application. 9:87-92
ISSN:	1993-5048 1671-9433
DOI:	10.1007/s11804-010-8052-x
Popis:	In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::40f79cd091ce277c82add68b0e7734b7 https://doi.org/10.1007/s11804-010-8052-x Zobrazit plný text záznamu Full text from SpringerLink