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수중글라이더의 최적선형화 모델기반 강인제어기 설계

Optimal Linearization-Based Robust Controller Design for Underwater Glider

  • Moon, Ji Hyun (Dept. of Electronic Engineering, Inha University) ;
  • Lee, Ho Jae (Dept. of Electronic Engineering, Inha University)
  • 투고 : 2016.08.02
  • 심사 : 2016.11.10
  • 발행 : 2016.12.01

초록

This paper addresses a robust controller design technique for a nonlinear underwater glider with disturbances. We consider the buoyancy and pitching moment as control inputs, which generate additional nonlinearity on the plant dynamics. To deal with the nonlinearity, we utilize the optimal linearization technique. The conditions for the optimal linearization and the controller design are formulated in terms of matrix inequalities. The effectiveness of the proposed method is demonstrated through a simulation.

키워드

참고문헌

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