Resilient guaranteed cost diving depth control of AUV

摘要

This paper is to concern the resilient guaranteed cost state feedback controller of autonomous underwater vehicles (AUVs) in vertical plane. Basing on the established dynamic model, this paper linearizes the nonlinear model at vertical plane with the assumption that the hydrodynamic parameters of the nonlinear vehicle model are precisely known. Then we get the singular system of AUV. By using linear matrix inequality (LMI) and MATLAB technique, a resilient guaranteed cost controller is designed. In the end, simulations are given to verify the effectiveness of the proposed methods.