Researches on System Control Theories and Their Applications of AUVs
|School||Harbin Engineering University|
|Keywords||Time-Delay uncertain systems robust stability Autonomous Underwater Vehicles linear matrix inequality resilient controller|
For a system, the problem of stability is very important. If a system is not stable, no matter how perfect the other performance is, the system is unnecessary. Because that with instability, no performance can be realized. During practically industrial production, time-delay is so wildly existed in everywhere and it is one of important factors to the stability of system. Considering time-delay can make the result more useful and less conservative.In the paper, the main job is to study system control theory, and apply the results in the AUV system. Firstly, in the first and the second parts, the system, the steady theory, the Lyapunov-Krasovskii function theory and related theories are introduced. Furthermore some lemmas and related proofs are given here in order to make easier to understand the third and forth parts. Secondly, in the third part, a class of linear singular system with uncertain factors is studied about the stability. And thirdly, in the forth part, a class of nonlinear singular time-delay system with uncertain factors is studied about the stability. In these two parts, the main studies are to devise and solve the state feedback controllers. Basing on Lyapunov-Krasovskii theory and differential equation theory, linear matrix inequations are given and solved by LMI toolbox of MATLAB, and finally robust resilient guaranteed cost controllers are got. Then in the paper simulation experiments are doing in corresponding Autonomous Underwater Vehicles moving systems, and the simulation results indicate the feasibility of these methods.At the end, this paper talks about the compatibility of the results into optimal control problem. Using higher probability theory and related theories, it is easy to combine the results and optimal control problem, and get optimal controllers.