Control of an Autonomous Underwater Vehicle subject to robustness constraints

Juan Luis (1) , Dominique Monnet (2) , Benoit Clement (2) , Fabricio Garelli (1) , Jordan Ninin (2)

1 UNLP - Universidad Nacional de la Plata [Argentine]
2 Lab-STICC_ENSTAB_CID_PRASYS

In this paper, we present a method to compute a control law for an Autonomous Underwater Vehicle (AUV) subject to external disturbances. The control law's design objectives are formulated as H ∞ objectives used to synthesize a robust controller. Then, a robustness analysis of AUV model uncertainties is performed without conservatism with interval analysis and global optimization in order to validate the control law. We emphasize the advantage of our approach by comparing it with two other classical design methods with simulations and experiments.

Mots clés: Robust control; H ∞ control; AUV; Global optimization; PID design; Robustness Analysis

Domaines: Automatique / Robotique

Juan Luis, Dominique Monnet, Benoit Clement, Fabricio Garelli, Jordan Ninin. Control of an Autonomous Underwater Vehicle subject to robustness constraints. 9th IFAC Symposium on Robust Control Design (ROCOND'18), Sep 2018, Florianopolis, Brazil. ⟨hal-01867161⟩