Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation
Joint Authors
Dunnigan, Matthew W.
Ismail, Zool H.
Source
Journal of Applied Mathematics
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-04
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances.
In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function.
Within this control scheme, nonlinear H∞ and region based control schemes are used.
A Lyapunov-like function is presented for stability analysis of the proposed control law.
Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV.
It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.
American Psychological Association (APA)
Ismail, Zool H.& Dunnigan, Matthew W.. 2013. Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation. Journal of Applied Mathematics،Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-494334
Modern Language Association (MLA)
Ismail, Zool H.& Dunnigan, Matthew W.. Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation. Journal of Applied Mathematics No. 2013 (2013), pp.1-7.
https://search.emarefa.net/detail/BIM-494334
American Medical Association (AMA)
Ismail, Zool H.& Dunnigan, Matthew W.. Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation. Journal of Applied Mathematics. 2013. Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-494334
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-494334