Nonlinear H_ optimal control scheme for an underwater vehicle with regional function formulation

DOI10.1155/2013/732738MaRDI QIDQ1790102zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Zool H. Ismail, Matthew W. Dunnigan

Publication date 10 October 2018

Published in Journal of Applied Mathematics (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2013/732738

Mathematics Subject Classification ID

(H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinear \(H_\infty\) and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.

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(4)

• Design of a steering control law for an autonomous underwater vehicle using nonlinear \(\mathscr {H}_{\infty }\) state feedback technique
• Second order sliding mode control scheme for an autonomous underwater vehicle with dynamic region concept
• Barrier Lyapunov function based adaptive region tracking control for underwater vehicles with thruster saturation and dead zone
• Tracking of REMUS autonomous underwater vehicles with actuator saturations

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