H∞ robust fault-tolerant controller design for an autonomous underwater vehicle’s navigation control system
Xiang-qin Cheng , Jing-yuan Qu , Zhe-ping Yan , Xin-qian Bian
Journal of Marine Science and Application ›› 2010, Vol. 9 ›› Issue (1) : 87 -92.
H∞ robust fault-tolerant controller design for an autonomous underwater vehicle’s navigation control system
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.
AUV / navigation control / robust H∞ fault-tolerant control / gain variations / LMI
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