The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Optimal Linearization-Based Robust Controller Design for Underwater Glider

수중글라이더의 최적선형화 모델기반 강인제어기 설계

  • Moon, Ji Hyun (Dept. of Electronic Engineering, Inha University) ;
  • Lee, Ho Jae (Dept. of Electronic Engineering, Inha University)
  • Received : 2016.08.02
  • Accepted : 2016.11.10
  • Published : 2016.12.01
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Abstract

This paper addresses a robust controller design technique for a nonlinear underwater glider with disturbances. We consider the buoyancy and pitching moment as control inputs, which generate additional nonlinearity on the plant dynamics. To deal with the nonlinearity, we utilize the optimal linearization technique. The conditions for the optimal linearization and the controller design are formulated in terms of matrix inequalities. The effectiveness of the proposed method is demonstrated through a simulation.

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References

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