LMI-based design of robust controllers for an underwater vehicle

Hiroyuki Kajiwara, Wataru Koterayama, Masahiko Nakamura, Shigeru Yugawa

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the International Offshore and Polar Engineering Conference
編集者J.S. Chung, C.H. Kim, M. Olagnon, S. Naito
出版社Int Soc of Offshore and Polar Engineerns (ISOPE)
ページ51-55
ページ数5
2
出版ステータス出版済み - 1997
外部発表はい
イベントProceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4) - Honolulu, HI, USA
継続期間: 5 25 19975 30 1997

その他

その他Proceedings 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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