Control of an Autonomous Underwater Vehicle subject to robustness constraints⁎

Juan Luis Rosendo; Dominique Monnet; Benoit Clement; Fabricio Garelli; Jordan Ninin

doi:10.1016/j.ifacol.2018.11.127

Control of an Autonomous Underwater Vehicle subject to robustness constraints^⁎

Juan Luis Rosendo, Dominique Monnet, Benoit Clement, Fabricio Garelli, Jordan Ninin

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

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.

Original language	English
Pages (from-to)	322-327
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	51
Issue number	25
DOIs	https://doi.org/10.1016/j.ifacol.2018.11.127
Publication status	Published - 2018
Externally published	Yes

Keywords

AUV
Global optimization
H control
PID design
Robust control
Robustness Analysis

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10.1016/j.ifacol.2018.11.127Licence: In Copyright

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AU - Monnet, Dominique

AU - Clement, Benoit

AU - Garelli, Fabricio

AU - Ninin, Jordan

PY - 2018

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AB - 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.

KW - AUV

KW - Global optimization

KW - H control

KW - PID design

KW - Robust control

KW - Robustness Analysis

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JF - IFAC-PapersOnLine

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ER -

Control of an Autonomous Underwater Vehicle subject to robustness constraints^⁎

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