Nonlinear H∞ Control for an Autonomous Underwater Vehicle in the Vertical Plane∗. Issue 1 (2016)

• Record Type: Journal Article
• Authors: Mahapatra, Subhasish; Subudhi, Bidyadhar; Rout, Raja; Kumar, B.V.S.S. Krishna
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 1(2016)
• Page Start: 391
• Page End: 395
• Publication Date: 2016
• Subjects: Path following -- AUV -- Nonlinear Control -- Nonlinear H∞ Control -- State Feedback; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.03.085
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, a nonlinear path following control algorithm has been illustrated for Autonomous Underwater Vehicle (AUV) in the Vertical Plane. The nonlinear H∞ state feedback control technique has been adopted to track the desired path in the dive plane. The design of the control algorithm is obtained by solving a Hamilton-Jacobi-Isaacs inequality with a Taylor's series approach for the control of AUV. The developed algorithm provides a significant performance in robustness and internal stability by attenuating the disturbance. The performance of the developed control scheme has been reported by carrying out the simulation using MATLAB/Simulink environment.