Abstract
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.
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**n-qian Bian was born in 1941. He is a professor at the Department of Automation, Harbin Engineering University. His current research interests include motion control of AUV, dynamic positioning system, etc.
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Cheng, Xq., Qu, Jy., Yan, Zp. et al. H∞ robust fault-tolerant controller design for an autonomous underwater vehicle’s navigation control system. J. Marine. Sci. Appl. 9, 87–92 (2010). https://doi.org/10.1007/s11804-010-8052-x
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DOI: https://doi.org/10.1007/s11804-010-8052-x