Abstract
H ∞ controller based on state observer is designed to solve the inobservable problem of partial condition in control system of autonomous underwater vehicle. In order to facilitate design of controller, implementing linearization to the equation in the specific operating point, H ∞ controller based on state observer is designed by using the linear matrix inequality processing method, which is used in heading control system and carried on the simulation confirmation. The simulation results show that H ∞ controller can suppress the influence of measurement noise and process noise well to the system.
Funding project: Research Fund from National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle of Harbin Engineering University (002010260730).
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© 2012 Springer-Verlag Berlin Heidelberg
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Yue-sheng, L., Xiu-ping, W., Shi-wei, L. (2012). H ∞ Heading Control of AUV Based on State Observers. In: Deng, W. (eds) Future Control and Automation. Lecture Notes in Electrical Engineering, vol 172. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31006-5_20
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DOI: https://doi.org/10.1007/978-3-642-31006-5_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31005-8
Online ISBN: 978-3-642-31006-5
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