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 proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the International Offshore and Polar Engineering Conference
EditorsJ.S. Chung, C.H. Kim, M. Olagnon, S. Naito
PublisherInt Soc of Offshore and Polar Engineerns (ISOPE)
Pages51-55
Number of pages5
Volume2
Publication statusPublished - 1997
Externally publishedYes
EventProceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4) - Honolulu, HI, USA
Duration: May 25 1997May 30 1997

Other

OtherProceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4)
CityHonolulu, HI, USA
Period5/25/975/30/97

All Science Journal Classification (ASJC) codes

  • Ocean Engineering

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