Robust controller design for an unmanned submarine

The aime of this paper is to provide a method for robust controling of a underwater robot system. First, the underwater robot system is modeled and a function is extracted for it. The resulting model has six inputs and six outputs. Since the output should be robust against the changes in input parameters and disturbances, a robust control is needed to be designed. As it is usual to use the PI controller to control underwater robots, PI structure is used as a controller and a method for robust control systems are presented based on H method. To achieve the purpose of the robust controlling against perturbations and disturbances, the cost function is obtained, which can lead to the minimizing the robust control based on the H norm. To minimize the obtained cost function, LMI methods have been used.

کلیدواژه ها:

Robust Control ، Underwater robot ، H  norm ، linear matrix inequality