The robust H-infinity control of UUV with Riccati equation solution interpolation

Zhang Wei; Teng Yanbin; Wei Shilin; Xiong Huasheng; Ren Hongliang

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The robust H-infinity control of UUV with Riccati equation solution interpolation

机译：具有Riccati方程解插值的UUV鲁棒H无限控制

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摘要

The main purpose of this study was to develop a method for a robust H-infinity control of an unmanned underwater vehicle (UUV) based on the interpolation of the Riccati equation solution. This method combined the robust H-infinity control theory and results of the interpolation of the Riccati equation solution. The UUV's velocity, heading, and depth controllers were derived and obtained. A simulation and experiment in a lake were conducted to verify the effectiveness of the developed controllers. Results indicated that the controllers were feasible, effective, and robust in managing the control of a UUV.

机译：这项研究的主要目的是开发一种基于Riccati方程解的插值的鲁棒H-∞控制无人水下航行器（UUV）的方法。该方法结合了鲁棒的H无限控制理论和Riccati方程解的插值结果。推导并获得了UUV的速度，航向和深度控制器。在湖中进行了仿真和实验，以验证开发的控制器的有效性。结果表明，该控制器在管理UUV的控制上是可行，有效和鲁棒的。

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来源
《Ocean Engineering》 |2018年第may15期|252-262|共11页
作者
Zhang Wei; Teng Yanbin; Wei Shilin; Xiong Huasheng; Ren Hongliang;
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作者单位

Harbin Engn Univ, Sch Automat, Harbin 150001, Heilongjiang, Peoples R China;

Harbin Engn Univ, Sch Automat, Harbin 150001, Heilongjiang, Peoples R China;

Harbin Engn Univ, Sch Automat, Harbin 150001, Heilongjiang, Peoples R China;

Harbin Engn Univ, Sch Automat, Harbin 150001, Heilongjiang, Peoples R China;

Natl Univ Singapore, Dept Biomed Engn, Singapore, Singapore;

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正文语种 eng
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关键词
Interpolation of the Riccati equation solution; Robust H-Inflnity control; UUV control; Heading control; Depth control;

机译：Riccati方程解的插值;鲁棒H-Inflnity控制;UUV控制;航向控制;深度控制;

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专利

1. An approximation theory of solutions to operator Riccati equations for H-infinity control [J] . Ito K., Morris KA. SIAM Journal on Control and Optimization . 1998,第1期

机译：H-无穷大控制算子Riccati方程解的近似理论
2. On the solution of coupled Riccati equations used in mixed H-2 and H-infinity optimal control [J] . Pessoa RMD., Sales RM. Systems and Control Letters . 1998,第2期

机译：关于H-2和H-无穷混合最优控制的耦合Riccati方程的解
3. CONTINUITY PROPERTIES OF SOLUTIONS TO H-2 AND H-INFINITY RICCATI EQUATIONS [J] . Stoorvogel AA., Saberi A. Systems and Control Letters . 1996,第4期

机译：H-2和H-无限性ricicati方程解的连续性
4. Nonlinear H-infinity control of relative motion in space via the state-dependent Riccati equations [C] . Giovanni Franzini, Mario Innocenti IEEE Conference on Decision and Control . 2015

机译：通过状态依赖的Riccati方程非线性地控制空间中的相对运动
5. Numerical solution of the coupled algebraic riccati equations. [D] . Rajasingam, Prasanthan. 2013

机译：耦合代数riccati方程的数值解。
6. New Conditions for Obtaining the Exact Solutions of the General Riccati Equation [O] . Lazhar Bougoffa -1

机译：获得一般Riccati方程精确解的新条件
7. Rational interpolation to solutions of Riccati difference equations on elliptic lattices [O] . Magnus Alphonse P. 2009

机译：椭圆晶格上Riccati差分方程解的有理插值
8. Structure of Riccati Equation Solutions in Optimal Boundary Control of Hyperbolic Equations with Quadratic Cost Functionals. [R] . Koh, H. L. 1976

机译：具有二次代价的双曲型方程最优边值控制的Riccati方程解的结构。

The robust H-infinity control of UUV with Riccati equation solution interpolation

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