| Title |
Robust Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with Uncertain Hydrodynamic Coefficients |
| Authors |
김도완(Kim, Do Wan) ; 박정훈(Park, Jeong-Hoon) ; 박호규(Park, Ho-Gyu) ; 김태영(Kim, Tae-Yeong) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.2.409 |
| Keywords |
Large diameter unmanned underwater vehicles (LDUUV) ; Uncertainty ; robust ; Lyapunov ; Linear matrix inequality (LMI) ; Waypoint ; Asymptotic stability |
| Abstract |
This paper addresses on an linear matrix inequality (LMI) formulation of the robust waypoint tracking problem of large diameter unmanned underwater vehicles (LDUUVs) in the horizontal plane. The interested design issue can be reformed as the robust asymptotic stabilization of the provided error dynamics with respect to the desired yaw angle, surge speed and attitude. Sufficient conditions for its robust asymptotic stabilizability against the hydrodynamic uncertainties are derived in the format of LMI. An example is provided to testify the validity of the proposed theoretical claims. |