H_∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System

作     者：程相勤 曲镜圆 严浙平 边信黔 Xiang-qin Cheng;Jing-yuan Qu;Zhe-ping Yan;Xin-qian Bian

作者机构：Department of AutomationHarbin Engineering University 

出 版 物：《Journal of Marine Science and Application》 (船舶与海洋工程学报（英文版）)

年 卷 期：2010年第9卷第1期

页      面：87-92页

学科分类：0707[理学-海洋科学] 08[工学] 0815[工学-水利工程] 0816[工学-测绘科学与技术] 0824[工学-船舶与海洋工程] 0802[工学-机械工程] 082401[工学-船舶与海洋结构物设计制造] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by the Heilongjiang Postdoctoral Foundation under Grant No. LH-04010 

主　　题：AUV navigation control robust H∞ fault-tolerant control gain variations LMI 

摘      要：In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.