LPV Control Design for Autonomous Underwater Vehicles Using Robustness Analysis Tools. Issue 21 (2019)

• Record Type: Journal Article
• Authors: Muniraj, Devaprakash; Fry, J. Micah; Farhood, Mazen
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 21(2019)
• Page Start: 236
• Page End: 241
• Publication Date: 2019
• Subjects: linear parameter-varying control -- autonomous underwater vehicle -- integral quadratic constraints; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.12.313
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper deals with the design and analysis of a linear parameter-varying (LPV) path-following controller for an autonomous underwater vehicle (AUV). The LPV controller is designed to provide guaranteed performance for any planar path whose inverse radius of curvature is bounded. Such a flexibility provided by the LPV controller offers significant advantages in AUV missions such as seabed mapping and mine countermeasures. The control design approach uses a lumped system model that is based on a virtual vehicle formulation and combines the six degrees-of-freedom AUV dynamics with the path-following dynamics. An LPV path-following controller is designed using the ℓ2 -induced norm as the performance measure and the inverse radius of curvature of the path as the scheduling parameter. The penalty weights of the controller are tuned using a tool that utilizes integral quadratic constraint (IQC) theory to perform robustness analysis. The robustness and performance of the LPV controller are studied using IQC analysis and non-deterministic MATLAB simulations where hydrodynamic model uncertainties, unmodeled servo dynamics, AUV nonlinear dynamics, and sensor noise are considered.