전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제65권12호
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  • Pages.2023-2029
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  • 2016
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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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
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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.

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참고문헌

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