大深度水雷鲁棒控制器设计比较研究

Comparison of Robust Controller Design for Large Depth Mine

研究海流随机干扰下的大深度水雷鲁棒控制器设计和仿真验证问题。基于代数R iccatic方程(不等式)和线性矩阵不等式(LM I)两种H∞控制器设计方法,设计了在海流随机干扰下的鲁棒控制器,并对两种算法进行了改进,给出了更宽假设条件下的求解算法控制律。通过仿真验证了所设计的控制器的有效性,它保证了大深度水雷航行过程的稳定性和快速性,也验证了LM I方法的优越性。

The robust controller design of a large depth mine under sea wave disturbance and the simulation is studied. An H∞ robust controller with robust stability under sea wave disturbance is developed by using the Algorithm Riccati equation approach and Linear matrix inequalities approaeh（LMI- based design）, Two Algorithms are improved and developed to propose a robust controller according to a wide set condition ; Simulations show that the stability and the speed of the navigation period and the superiority of LMI-based design are guaranteed by using the controller presented.