Diving autopilot design for underwater vehicles using multi-objective control synthesis

This paper presents the mathematical modeling, guidance and robust control synthesis of a highly maneuverable submersible vehicle (or underwater vehicle) when performing a specific mission at shallow submergence conditions. First, the vertical plane motions (heave and pitch) of the vehicle are modeled by a set of maneuvering equations. After model simplification, a state-space model is compactly obtained. Then a state-feedback controller is proposed for the accurate depth-keeping and pitch motion controls of the vehicle. The control actions to the generalized plant can be provided by the mixedH2/H∞ optimal synthesis as well as closed-loop pole constraint with LMIs. The feasibility of the guidance and control approach is verified with direct numerical simulations. The proposed approach ensures reasonable depth-keeping and minimal pitch motions, even under a given uncertainty condition.

[1]  K. Glover,et al.  State-space formulae for all stabilizing controllers that satisfy and H ∞ norm bound and relations to risk sensitivity , 1988 .

[2]  Richard Evelyn Donohue Bishop,et al.  Mechanics of Marine Vehicles , 1982 .

[3]  D. Bernstein,et al.  Mixed-norm H 2 /H ∞ regulation and estimation: the discrete-time case , 1991 .

[4]  S. You,et al.  Model-based feedforward precompensation and VS-type robust nonlinear postcompensation for uncertain robotic systems with/without knowledge of uncertainty bounds (II) , 1996 .

[5]  P. Gahinet,et al.  H∞ design with pole placement constraints: an LMI approach , 1996, IEEE Trans. Autom. Control..

[6]  P. Khargonekar,et al.  Mixed H/sub 2//H/sub infinity / control: a convex optimization approach , 1991 .

[7]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[8]  IwasakiT.,et al.  All controllers for the general H control problem , 1994 .

[9]  G. F. Gueler MODELLING, DESIGN AND ANALYSIS OF AN AUTOPILOT FOR SUBMARINE VEHICLES , 1989 .

[10]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[11]  R. J. Niewoehner,et al.  Integrated aircraft-controller design using linear matrix inequalities , 1996 .

[12]  Tetsuya Iwasaki,et al.  All controllers for the general H∞ control problem: LMI existence conditions and state space formulas , 1994, Autom..

[13]  Sam-Sang You Robust Autopilot Design for Submarine Vehicles , 1997 .

[14]  P. Khargonekar,et al.  State-space solutions to standard H/sub 2/ and H/sub infinity / control problems , 1989 .

[15]  W. B. Marshfield Submarine periscope-depth depth-keeping using an H-infinity controller together with sea-noise-reduction notch filters , 1991 .

[16]  Wang Zidong,et al.  Controller design for continuous systems with variance and circular pole constraints , 1995 .