A hierarchical Varying Sampling H∞ Control of an AUV

Emilie Roche (1, 2) , Olivier Sename (3) , Daniel Simon (1, 2) , Sébastien Varrier (2)

1 NECS - Networked Controlled Systems
2 GIPSA-lab - Grenoble Images Parole Signal Automatique
3 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV) subject to real-time constraints. A new hierarchical structure is presented, considering the strong link between the altitude and the pitch angle. Two different controllers have to be computed, both using the H∞ framework. Moreover the measurement of the altitude by an ultrasonic sensor induces a non periodicity in the altitude control. To take into account this variation of the sampling interval, an LPV polytopic controller is designed whose matrices are scheduled w.r.t this parameter. Moreover the proposed design ensures a performance adaptation when the sampling interval varies. This methodology is developed for AUV, which are a difficult to control using linear tools due to strong non linearities.

Domaines: Automatique

Emilie Roche, Olivier Sename, Daniel Simon, Sébastien Varrier. A hierarchical Varying Sampling H∞ Control of an AUV. IFAC WC 2011 - 18th IFAC World Congress, Aug 2011, Milan, Italy. ⟨hal-00640404⟩