Reduced-order H? control of an autonomous underwater vehicle
Reduced-order H? control of an autonomous underwater vehicle
It is well known that the reduced-order (least-order) H? control problem is a rank minimization problem subject to linear matrix inequality (LMI) constraints which is hard to solve due to the non-convexity of the objective and the trace heuristic is simple and efficient one among various heuristics that approximate the rank minimization problem. In this paper, a theoretical insight into the trade-off between the controller order and the performance of the closed-loop system is given. Autopilots (forward speed, heading and depth) for an autonomous underwater vehicle are synthesized based upon the trace heuristic. Simulation results as well as experimental results of heading control show that the reduced-order autopilots are desirable for practical implementation due to their simple structures and slight performance degradation.
h? control, linear matrix inequality (lmi), rank minimization problem (rmp), trace minimization problem (tmp), autonomous underwater vehicle (auv)
1511-1520
Feng, Z.
72a3bad8-4857-4dca-a5f7-f18b1ffaff63
Allen, R.
956a918f-278c-48ef-8e19-65aa463f199a
2004
Feng, Z.
72a3bad8-4857-4dca-a5f7-f18b1ffaff63
Allen, R.
956a918f-278c-48ef-8e19-65aa463f199a
Abstract
It is well known that the reduced-order (least-order) H? control problem is a rank minimization problem subject to linear matrix inequality (LMI) constraints which is hard to solve due to the non-convexity of the objective and the trace heuristic is simple and efficient one among various heuristics that approximate the rank minimization problem. In this paper, a theoretical insight into the trade-off between the controller order and the performance of the closed-loop system is given. Autopilots (forward speed, heading and depth) for an autonomous underwater vehicle are synthesized based upon the trace heuristic. Simulation results as well as experimental results of heading control show that the reduced-order autopilots are desirable for practical implementation due to their simple structures and slight performance degradation.
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Published date: 2004
Keywords:
h? control, linear matrix inequality (lmi), rank minimization problem (rmp), trace minimization problem (tmp), autonomous underwater vehicle (auv)
Identifiers
Local EPrints ID: 28473
URI: http://eprints.soton.ac.uk/id/eprint/28473
ISSN: 0967-0661
PURE UUID: 2b8faaed-2fb1-4b58-999f-37533ee5b647
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Date deposited: 02 May 2006
Last modified: 15 Mar 2024 07:25
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Author:
Z. Feng
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