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Title: Development of linear parameter varying control system for autonomous underwater vehicle
Authors: Sutarto, HY
Budiyono, Agus
Keywords: Autonomous Underwater Vehicle;Linear Parameter Varying;Robust Control;Linear Fractional Transformation
Issue Date: Apr-2011
Publisher: NISCAIR-CSIR, India
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 m-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.
Page(s): 275-286
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.40(2) [April 2011]

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