Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation
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 Autonom...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2013/732738 |
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| author | Zool H. Ismail Matthew W. Dunnigan |
| author_facet | Zool H. Ismail Matthew W. Dunnigan |
| author_sort | Zool H. Ismail |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-0d897f177ca44108a3e2a0cf1c856c4e |
| institution | OA Journals |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-0d897f177ca44108a3e2a0cf1c856c4e2025-08-20T02:02:26ZengWileyJournal of Applied Mathematics1110-757X1687-00422013-01-01201310.1155/2013/732738732738Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function FormulationZool H. Ismail0Matthew W. Dunnigan1Centre for Artificial Intelligence & Robotics, Universiti Teknologi Malaysia, Jalan Semarak, 54100 Kuala Lumpur, MalaysiaSchool of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UKA 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.http://dx.doi.org/10.1155/2013/732738 |
| spellingShingle | Zool H. Ismail Matthew W. Dunnigan Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation Journal of Applied Mathematics |
| title | Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation |
| title_full | Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation |
| title_fullStr | Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation |
| title_full_unstemmed | Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation |
| title_short | Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation |
| title_sort | nonlinear h∞ optimal control scheme for an underwater vehicle with regional function formulation |
| url | http://dx.doi.org/10.1155/2013/732738 |
| work_keys_str_mv | AT zoolhismail nonlinearhoptimalcontrolschemeforanunderwatervehiclewithregionalfunctionformulation AT matthewwdunnigan nonlinearhoptimalcontrolschemeforanunderwatervehiclewithregionalfunctionformulation |