Fault-Tolerant and Guaranteed Cost Control Based on the Feedback Linearization of Autonomous Underwater Vehicle

In paper of the second-order nonlinear heading control system of autonomous underwater vehicle, this paper has realized partial linearization of system using the method of input - output feedback linearization. In the zero dynamic stable situation, the performance controller guaranteed is made by li...

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Bibliographic Details
Main Authors: Yuesheng Luo, Xiuping Wen, Lirong Fu, Shiwei Li, Mingye Zhou, Xinping Gong
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic stability
autonomous underwater vehicle (AUV)
Control systems
Fault tolerance
Fault tolerant systems
fault-tolerant control
feedback linearization
guaranteed cost control
Linear matrix inequalities
linear matrix inequality (LMI)
Symmetric matrices
Underwater vehicles
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Summary:In paper of the second-order nonlinear heading control system of autonomous underwater vehicle, this paper has realized partial linearization of system using the method of input - output feedback linearization. In the zero dynamic stable situation, the performance controller guaranteed is made by linearized subsystem with using linear matrix inequality. Fault-tolerant control has been realized, when the sensor breaks down, through the method of closed-loop system coefficient matrix's characteristic value analyzed. The result of simulation had proven that the controller designed can maintain the asymptotic stability of closed-loop system, and have certain performance.
DOI:10.1109/IHMSC.2010.49