LMI-based design of robust controllers for an underwater vehicle

Hiroyuki Kajiwara; Wataru Koterayama; Masahiko Nakamura; Shigeru Yugawa

LMI-based design of robust controllers for an underwater vehicle

Hiroyuki Kajiwara, Wataru Koterayama, Masahiko Nakamura, Shigeru Yugawa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The paper is concerned with a robust control problem for an underwater vehicle with uncertainties of hydrodynamic coefficients. Based on sensitivity analysis of hydrodynamic coefficients, a linear model with 4 vertices is introduced. The problem is formulated in the framework of multi-model based design of H_∝ control law with pole region constraints, and solved by an interior-point method numerically. Some successful simulation and experimental results are shown.

Original language	English
Title of host publication	Proceedings of the International Offshore and Polar Engineering Conference
Editors	J.S. Chung, C.H. Kim, M. Olagnon, S. Naito
Publisher	Int Soc of Offshore and Polar Engineerns (ISOPE)
Pages	51-55
Number of pages	5
Volume	2
Publication status	Published - 1997
Externally published	Yes
Event	Proceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4) - Honolulu, HI, USA Duration: May 25 1997 → May 30 1997

Other

Other	Proceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4)
City	Honolulu, HI, USA
Period	5/25/97 → 5/30/97

All Science Journal Classification (ASJC) codes

Ocean Engineering

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Cite this

LMI-based design of robust controllers for an underwater vehicle. / Kajiwara, Hiroyuki; Koterayama, Wataru; Nakamura, Masahiko; Yugawa, Shigeru.

Proceedings of the International Offshore and Polar Engineering Conference. ed. / J.S. Chung; C.H. Kim; M. Olagnon; S. Naito. Vol. 2 Int Soc of Offshore and Polar Engineerns (ISOPE), 1997. p. 51-55.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kajiwara, H, Koterayama, W, Nakamura, M & Yugawa, S 1997, LMI-based design of robust controllers for an underwater vehicle. in JS Chung, CH Kim, M Olagnon & S Naito (eds), Proceedings of the International Offshore and Polar Engineering Conference. vol. 2, Int Soc of Offshore and Polar Engineerns (ISOPE), pp. 51-55, Proceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4), Honolulu, HI, USA, 5/25/97.

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