INVESTIGADORES
GARELLI Fabricio
artículos
Título:
Control of an Autonomous Underwater Vehicle subject to robustness constraints
Autor/es:
ROSENDO, JUAN LUIS; MONNET, DOMINIQUE; CLEMENT, BENOIT; GARELLI, FABRICIO; NININ, JORDAN
Revista:
IFAC-PapersOnLine
Editorial:
Elsevier
Referencias:
Lugar: Amsterdam; Año: 2018 vol. 51 p. 322 - 327
ISSN:
2405-8963
Resumen:
In this paper, we present a method to compute a control law for an AutonomousUnderwater Vehicle (AUV) subject to external disturbances. The control law's design objectivesare formulated as H1 objectives used to synthesize a robust controller. Then, a robustnessanalysis of AUV model uncertainties is performed without conservatism with interval analysisand global optimization in order to validate the control law. We emphasize the advantage ofour approach by comparing it with two other classical design methods with simulations andexperiments.
