Nonlinear \(H_\infty\) optimal control scheme for an underwater vehicle with regional function formulation
type: Item
instance of: scholarly article
title: Nonlinear \(H_\infty\) optimal control scheme for an underwater vehicle with regional function formulation
zbMATH Open document ID: 1397.93144
DOI: 10.1155/2013/732738
author: Zool H. Ismail
author: Matthew W. Dunnigan
published in: Journal of Applied Mathematics
publication date: 2018-10-10T00:00:00Z
review text: Summary: A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinear \(H_\infty\) and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B36
zbMATH DE Number: 6950846
Wikidata QID: Q59004111
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2013/732738
OpenAlex ID: W2028158835
DBLP publication ID: journals/jam/IsmailD13
description: scientific article; zbMATH DE number 6950846