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- Title
Anti-disturbance depth control based on the robust L1 filter for under-actuated AUV with switched linear parameter varying dynamics.
- Authors
Bo, Peng; Tu, Xingbin; Wei, Yan; Qu, Fengzhong
- Abstract
To improve the anti-disturbance stability of the autonomous underwater vehicles (AUVs) under bounded disturbances in amplitude, we develop a robust controller based on the estimated signals generated by the filter. The AUV studied has the characteristics of time-varying delay, under-actuated, and switched linear parameter varying (LPV) dynamics. Both the filter and the control strategies, we proposed are based on the robust L 1 performance criterion, which is suitable for the amplitude-bounded disturbances in the ocean environment. In the filter and controller design, the corresponding Lyapunov–Krasovskii functional is established to verify the stability of the systems. As there exist couplings between the designed functional and the system parameter matrices, slack matrices are constructed for decouplings after validating the stability of the under-actuated AUV filtering error system and closed-loop control system. The filter and the controller are obtained in the form of parameter linear matrix inequalities (PLMIs), whose solution is infinite-dimensional matrix inequalities. The approximate basis function and gridding technique are applied to transform the filter and the controller into that of finite dimensional LMIs. The simulation has verified the effectiveness of the robust L 1 filter and anti-disturbance depth robust L 1 controller.
- Subjects
AUTONOMOUS underwater vehicles; LINEAR matrix inequalities; CLOSED loop systems; ROBUST control; MATRIX inequalities; SIGNAL filtering
- Publication
Journal of Marine Science & Technology, 2023, Vol 28, Issue 1, p179
- ISSN
0948-4280
- Publication type
Article
- DOI
10.1007/s00773-022-00909-2