It is well known that the reduced-order (least-order) Hinfinity control problem is a rank minimization problem subject to LMI (Linear Matrix Inequality) constraints which is hard to solve due to the non-convexity of the objective and the trace heuristic is simple and efficient one among various heuristics that approximate the rank minimization problem. A theoretical insight into the trade-off between the controller order and the performance of the closed-loop system is given. Autopilots (forward speed, heading and depth) for an autonomous underwater vehicle are synthesized based upon the trace heuristic. Simulation results as well as experimental results of heading control show that the reduced-order autopilots are desirable for practical implementation due to their simple structures and slight performance degradation.


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    Title :

    Reduced order H(infinity) control of an autonomous underwater vehicle


    Additional title:

    H<sub>unendlich</sub>-Regelung mit reduzierter Ordnung eines autonomen Unterwasserfahrzeuges


    Contributors:
    Feng, Z. (author) / Allen, R. (author)

    Published in:

    Control Engineering Practice ; 12 , 12 ; 1511-1519


    Publication date :

    2004


    Size :

    9 Seiten, 14 Bilder, 23 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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