In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating c...In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.展开更多
To minimize the auto body's posture change caused by steering and uneven road, and improve the vehicle's riding comfort and handling stability, this paper presents an H∞ robust controller of the active suspen...To minimize the auto body's posture change caused by steering and uneven road, and improve the vehicle's riding comfort and handling stability, this paper presents an H∞ robust controller of the active suspension system, which considers the effects of different steering conditions on its dynamic performance. The vehicle's vibration in the yaw, roll, pitch and vertical direction and the suspension's dynamic deflection in the steering process are taken into account for the designed H∞ robust controller, and it introduces the frequency weight function to improve the riding comfort in the specific sensitive frequency bands to human body. The proposed robust controller is testified through simulation and steering wheel angle step test. The results show that the active suspension with the designed robust controller can enhance the anti-roll capability of the vehicle, inhibit the changes of the body, and improve the riding comfort of the vehicle under steering condition. The results of this study can provide certain theoretical basis for the research and application of active suspension system.展开更多
基金Supported by the Heilongjiang Postdoctoral Foundation under Grant No. LH-04010
文摘In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
基金supported by the Fundamental Research Funds for the Central Universities(Grant No.NS2015020)
文摘To minimize the auto body's posture change caused by steering and uneven road, and improve the vehicle's riding comfort and handling stability, this paper presents an H∞ robust controller of the active suspension system, which considers the effects of different steering conditions on its dynamic performance. The vehicle's vibration in the yaw, roll, pitch and vertical direction and the suspension's dynamic deflection in the steering process are taken into account for the designed H∞ robust controller, and it introduces the frequency weight function to improve the riding comfort in the specific sensitive frequency bands to human body. The proposed robust controller is testified through simulation and steering wheel angle step test. The results show that the active suspension with the designed robust controller can enhance the anti-roll capability of the vehicle, inhibit the changes of the body, and improve the riding comfort of the vehicle under steering condition. The results of this study can provide certain theoretical basis for the research and application of active suspension system.
