Structured H_∞Regulations Applied to AUV Yaw Control

Structured H∞ regulation provides robust controllers with highly generalized forms, and recent Min-Max Interval Branch and Bound Algorithm (MMIBBA) improves the H∞ synthesis efficiency by solving global optimized result in a guaranteed way. Due to the advantages such as global optimization over a local result, convex reformulation, and reduced order form, structured H∞ control method is very attractive to Autonomous Underwater Vehicle (AUV) control issues in presence of uncertainties. However, formulating structural H∞ problem deeply affects the global optimizing result. Key issues such as designing controller structures and formulating optimization constraints are still challenging. Therefore, this paper studied three structural H∞ controllers: PID, Anti-Windup PID, and Minimal-Zero PID. Different H∞ control structures and optimization constraints are designed and compared on CISCREA AUV yaw control scenario. Corresponding robust synthesis results and control simulation are analyzed in the end.