水下無人潛航器航向H∞魯棒容錯控制器設計

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.

作 者： 程相勤 曲鏡圓 嚴浙平 邊信黔 Xiang-qin Cheng Jing-yuan Qu Zhe-ping Yan Xin-qian Bian   作者單位：   刊 名： 船舶與海洋工程學報（英文版）  英文刊名： JOURNAL OF MARINE SCIENCE AND APPLICATION  年，卷(期)： 2010 9(1)  分類號： U6  關鍵詞： AUV   navigation control   robust H∞ fault-tolerant control   gain variations   LMI  

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