船舶与海洋工程学报（英文版）
船舶與海洋工程學報（英文版）
선박여해양공정학보（영문판）
JOURNAL OF MARINE SCIENCE AND APPLICATION
2010年
1期
87-92
,共6页
程相勤%曲镜圆%严浙平%边信黔
程相勤%麯鏡圓%嚴浙平%邊信黔
정상근%곡경원%엄절평%변신검
AUV%navigation control%robust H∞ fault-tolerant control%gain variations%LMI
In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞, robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
