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Development of linear parameter varying control system for autonomous underwater vehicle
Sutarto, H.Y.; Budiyono, A. (2011). Development of linear parameter varying control system for autonomous underwater vehicle. Indian J. Mar. Sci. 40(2): 275-286
In: Indian Journal of Marine Sciences. National Institute of Science Communication and Information Resources, CSIR: New Delhi. ISSN 0379-5136; e-ISSN 0975-1033, more
Peer reviewed article  
Available in  Authors 
Author keywords
    Autonomous Underwater Vehicle; Linear Parameter Varying; Robust Control;Linear Fractional Transformation
Authors  Top 
  • Sutarto, H.Y.
  • Budiyono, A.
Abstract
    Development and application of Linear Parameter Varying (LPV) control system for robust longitudinal control system on an Autonomous Underwater Vehicle (AUV) are presented in the present study. LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. LPV control system combines LPV theory based upon Linear Matrix Inequalities (LMIs) and mu-synthesis to form a robust LPV control system. LPV control design is applied for a pitch control of the AUV to fulfill control design criteria on frequency and time domain. The final closed-loop system is tested for robust stability throughout the operational envelope.
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