The applicability of employing a linear parameter-varying (LPV) control to an underwater vehicle is investigated and compared to that of using a linear time-invariant robust control. The underwater vehicle is first modeled into a polytopic-type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performances such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. A parameter-dependent weight is investigated in the LPV synthesis. It is shown that the designed controller performs well over the entire operating range by computer simulation.
|Number of pages||8|
|Journal||International Journal of Offshore and Polar Engineering|
|Publication status||Published - Mar 1 2003|
All Science Journal Classification (ASJC) codes
- Civil and Structural Engineering
- Ocean Engineering
- Mechanical Engineering