Chinese Journal of Ship Research, Volume. 16, Issue 6, 191(2021)
H∞ robust control design for coupled Ciscrea AUV model
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Fig. 7. Interconnection system formulation for robust synthesis problem鲁棒综合问题的互连系统表示
Fig. 8. Block diagram of control for the closed-loop system闭环系统控制框图
Table 1. Four-DOF kinematic parameters of Ciscrea AUV
View tableView in ArticleTable 1. Four-DOF kinematic parameters of Ciscrea AUV
自由度 力/N和 力矩/(N·m) 速度/(m·s−1)和 角速度/(rad·s−1) 位置/m和 欧拉角/rad 横荡 X u x 纵荡 Y v y 垂荡 Z w $z $ 艏摇 N r ψ
Table 2. Object functions corresponding to different performance indexes
View tableView in ArticleTable 2. Object functions corresponding to different performance indexes
性能指标 目标函数 良好的跟踪能力 ${\left\| { { {\boldsymbol{T} }_{ {{r} } \to { { {e} }_{} } } } } \right\|_\infty }$ 较优的控制输出能量 ${\left\| { { {\boldsymbol{T} }_{ {\boldsymbol{w} } \to { { {u} }_{} } } } } \right\|_\infty }$ 较强的干扰抑制能力 ${\left\| { { {\boldsymbol{T} }_{ {{d} } \to { {{y} }_{\rm{p} } } } } } \right\|_\infty }$ 较强的噪声抑制能力 ${\left\| { { {\boldsymbol{T} }_{ {{n} } \to { {{y} }_{\rm{p} } } } } } \right\|_\infty }$
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Yan LIU, Xuchen FENG, Rui YANG, Ming LI, Yifei FENG. H∞ robust control design for coupled Ciscrea AUV model[J]. Chinese Journal of Ship Research, 2021, 16(6): 191
Paper Information
Category: Marine Machinery, Electrical Equipment and Automation
Received: Nov. 11, 2020
Accepted: --
Published Online: Mar. 28, 2025
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