Control of an Autonomous Underwater Vehicle subject to robustness constraints
Title | Control of an Autonomous Underwater Vehicle subject to robustness constraints |
Publication Type | Journal Article |
Year of Publication | 2018 |
Authors | Rosendo JL, Monnet D, Clement B, Garelli F, Ninin J |
Journal | IFAC-PapersOnLine |
Volume | 51 |
Pagination | 322-327 |
ISSN | 2405-8963 |
Abstract | In this paper, we present a method to compute a control law for an Autonomous Underwater Vehicle (AUV) subject to external disturbances. The control law’s design objectives are formulated as H∞ objectives used to synthesize a robust controller. Then, a robustness analysis of AUV model uncertainties is performed without conservatism with interval analysis and global optimization in order to validate the control law. We emphasize the advantage of our approach by comparing it with two other classical design methods with simulations and experiments. |
DOI | 10.1016/j.ifacol.2018.11.127 |
Research Line:
Control de Sistemas Autónomos
Control of autonomous systems
Control and coordination of robotic systems
Control y coordinación de sistemas robóticos