전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제33B권4호
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- Pages.17-26
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- 1996
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- 1016-135X(pISSN)
모델 불확실성과 해파외란을 고려한 고려한 몰수체의 $H^{\inf}$ 제어기 설계
$H^{\inf}$ controller design for submerged vehicle under model uncertainty and sea wave disturbances
초록
A submerged vehicle which is a nonlinear multivariable system must be designed to be roubst against inner-outer perturbations and hydrodynamic disturbances induces maneuvering operation. But a practical design of motion controller is limited by both mathematical modeling error and linearization errors. Performance of a motion controller based on traditional design method is very poor when the vehicle motion is under wave force distrubacnes near sea surface. Therefore, this ppaer proposes a design method of
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