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2013 Nonlinear H Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation
Zool H. Ismail, Matthew W. Dunnigan
J. Appl. Math. 2013(SI16): 1-7 (2013). DOI: 10.1155/2013/732738

Abstract

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 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.

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Zool H. Ismail. Matthew W. Dunnigan. "Nonlinear H Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation." J. Appl. Math. 2013 (SI16) 1 - 7, 2013. https://doi.org/10.1155/2013/732738

Information

Published: 2013
First available in Project Euclid: 14 March 2014

zbMATH: 06950846
MathSciNet: MR3124605
Digital Object Identifier: 10.1155/2013/732738

Rights: Copyright © 2013 Hindawi

Vol.2013 • No. SI16 • 2013
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