| Title |
Optimal Linearization-Based Robust Controller Design for Underwater Glider |
| Authors |
문지현(Moon, Ji Hyun) ; 이호재(Lee, Ho Jae) |
| DOI |
https://doi.org/10.5370/KIEE.2016.65.12.2023 |
| Keywords |
Underwater glider ; Optimal linearization ; Linear matrix inequality ; Robust control |
| Abstract |
This paper addresses a robust controller design technique for a nonlinear underwater glider with disturbances. We consider the buoyancy and pitching moment as control inputs, which generate additional nonlinearity on the plant dynamics. To deal with the nonlinearity, we utilize the optimal linearization technique. The conditions for the optimal linearization and the controller design are formulated in terms of matrix inequalities. The effectiveness of the proposed method is demonstrated through a simulation. |