Design method for a new control system for an autonomous underwater vehicle using linear matrix inequalities

Author： Nasuno Yohei Shimizu Etsuro Ito Masanori Yamamoto Ikuo Tsukioka Satoshi Yoshida Hiroshi Hyakudome Tadahiro Ishibashi Shojiro Aoki Taro

Publisher： Springer Publishing Company

ISSN： 1433-5298

Source： Artificial Life and Robotics, Vol.11, Iss.2, 2007-07, pp. : 149-152

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Abstract

The independent administrative corporation Japan Agency for Marine–Earth Science and Technology (JAMSTEC) has developed a small light autonomous underwater vehicle (AUV) named marine robot experimental 1 (MR-X1).¹ The motion control of MR-X1 is considered in this article. Since the dynamics of MR-X1 mainly depends on its own speed, the motion control is a nonlinear control system. We propose a new controller design method for this system using linear matrix inequalities (LMIs). This algorithm gives a solution as a linear matrix inequality, and can be adapted to solve many LMIs simultaneously. LMIs can be obtained by substituting several speeds into the dynamics of the MR-X1. The proposed controller, which can be derived from the solution of the LMIs, was adapted to MR-X1 and showed good performance in experiments.