- 相关推荐
水下无人潜航器航向H∞鲁棒容错控制器设计
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.
作 者： 程相勤 曲镜圆 严浙平 边信黔 Xiang-qin Cheng Jing-yuan Qu Zhe-ping Yan Xin-qian Bian 作者单位： 刊 名： 船舶与海洋工程学报（英文版） 英文刊名： JOURNAL OF MARINE SCIENCE AND APPLICATION 年，卷(期)： 2010 9(1) 分类号： U6 关键词： AUV navigation control robust H∞ fault-tolerant control gain variations LMI【水下无人潜航器航向H∞鲁棒容错控制器设计】相关文章：
不确定系统的鲁棒容错H∞控制04-27
航空发动机多变量鲁棒数字控制器的设计04-27
基于神经网络的鲁棒制导律设计04-26
不确定性系统鲁棒H∞/H2混合控制在航空发动机中的应用04-27
基于TMS320F2810的小型无人机控制器的设计04-27
车速匹配控制器原理及设计04-27
全球航运网络鲁棒性和脆弱性研究04-27
《我棒你也棒》-“了不起的我”教案设计04-25
具有无穷时滞的不确定大系统的鲁棒镇定04-27