INVESTIGADORES
GARELLI Fabricio
congresos y reuniones científicas
Título:
Control of an Autonomous Underwater Vehicle subject to robustness constraints
Autor/es:
JUAN LUIS ROSENDO; DOMINIQUE MONNET; BENOIT CLEMENT; JORDAN NININ; FABRICIO GARELLI
Lugar:
Florianópolis
Reunión:
Congreso; 9th IFAC Symposium on Robust Control Design (ROCOND2018); 2018
Institución organizadora:
IFAC
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 constraints used to synthesized 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.
