Structured HRegulations Applied to AUV Yaw Control

Rui Yang, Yan Liu, Dominique Monnet, Benoit Clement, Ali Mansour

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.

Original languageEnglish
Title of host publicationOCEANS 2019 - Marseille, OCEANS Marseille 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9781728114507
Publication statusPublished - Jun 2019
Externally publishedYes
Event2019 OCEANS - Marseille, OCEANS Marseille 2019 - Marseille, France
Duration: 17 Jun 201920 Jun 2019

Publication series

NameOCEANS 2019 - Marseille, OCEANS Marseille 2019


Conference2019 OCEANS - Marseille, OCEANS Marseille 2019


  • Autonomous Underwater Vehicle
  • PID
  • Robust control
  • Structured H∞ regulation


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