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http://dx.doi.org/10.5370/KIEE.2016.65.12.2023

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)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.65, no.12, 2016 , pp. 2023-2029 More about this Journal
Abstract
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.
Keywords
Underwater glider; Optimal linearization; Linear matrix inequality; Robust control;
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Times Cited By KSCI : 2  (Citation Analysis)
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