Dual‐loop robust controller design for autonomous underwater vehicle under unknown environmental disturbances

2016 ◽  
Vol 52 (5) ◽  
pp. 350-352 ◽  
Author(s):  
M. Kim ◽  
Hangil Joe ◽  
Son‐Ceol Yu
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Robust Controller ◽  
Environmental Disturbances ◽  
Robust Controller Design

scholarly journals A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection

2016 ◽  
Vol 2016 ◽  
pp. 1-7 ◽  
Author(s):  
Guoqing Xia ◽  
Jingjing Xue ◽  
Ang Guo ◽  
Caiyun Liu ◽  
Xinghua Chen
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Wind Waves ◽  
Control Process ◽  
Error Feedback ◽  
Matlab Simulation ◽  
Robust Controller ◽  
Environmental Disturbances ◽  
Robust Controller Design ◽  
Nonlinear Robust

In ship motion control process, it is difficult to design ship controller due to the effects of environmental disturbances such as wind, waves, current, and unmodelled dynamics. In order to solve these problems, a nonlinear robust controller based on L2-gain disturbance rejection is proposed in this paper. To steer ships to the desired position, an error feedback control law on account of Lyapunov functions is designed. Then, to satisfy the L2-gain disturbance rejection, proper parameters are chosen based on the system dissipative property. In order to verify the performance of the proposed controller, the MATLAB simulation results in two situations which are without and with the effects of environmental disturbances are demonstrated.

A Modified Homotopy Method and H∞ Robust Controller Design

2014 ◽  
Vol 39 (8) ◽  
pp. 1374-1380
Author(s):  
Bin LIU ◽  
Jiu-Qiang SUN ◽  
Zhi-Qiang ZHAI ◽  
Zhuo LI ◽  
Chang-Hong WANG
Keyword(s):  
Controller Design ◽  
Homotopy Method ◽  
Robust Controller ◽  
Robust Controller Design

Trade-Offs in Robust Controller Design

1992 ◽  
Author(s):  
J. Flgueroa ◽  
A. C. Desages ◽  
A. Palazoglu ◽  
J. A. Romagnoli
Keyword(s):  
Controller Design ◽  
Robust Controller ◽  
Trade Offs ◽  
Robust Controller Design
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