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Development of linear parameter varying control system for autonomous underwater vehicle

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Abstract
The development and application of Linear Parameter Varying (LPV) control system for robust longitudinal control system on an Autonomous Underwater Vehicle (AUV) are presented. The LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. The LPV control system combines LPV theory based upon Linear Matrix Inequalities (LMIs) and - synthesis to form a robust LPV control system. The LPV control design is applied for a pitch control of the AUV to fulfill control design criteria on frequency and time domain. The final closed-loop system is tested for robust stability throughout the operational envelope.
Keywords
Autonomous Underwater Vehicle, Robust Control, Linear Parameter Varying, Linear Fractional Transformation

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Citation

Please use this url to cite or link to this publication:

Chicago
Sutarto, Herman, and Agus Budiyono. 2011. “Development of Linear Parameter Varying Control System for Autonomous Underwater Vehicle.” Indian Journal of Marine Sciences 40 (2): 275–286.
APA
Sutarto, H., & Budiyono, A. (2011). Development of linear parameter varying control system for autonomous underwater vehicle. INDIAN JOURNAL OF MARINE SCIENCES, 40(2), 275–286.
Vancouver
1.
Sutarto H, Budiyono A. Development of linear parameter varying control system for autonomous underwater vehicle. INDIAN JOURNAL OF MARINE SCIENCES. 2011;40(2):275–86.
MLA
Sutarto, Herman, and Agus Budiyono. “Development of Linear Parameter Varying Control System for Autonomous Underwater Vehicle.” INDIAN JOURNAL OF MARINE SCIENCES 40.2 (2011): 275–286. Print.
@article{1109474,
  abstract     = {The development and application of Linear Parameter Varying (LPV) control system for robust longitudinal control system on an Autonomous Underwater Vehicle (AUV) are presented. The LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. The LPV control system combines LPV theory based upon Linear Matrix Inequalities (LMIs) and   - synthesis to form a robust LPV control system. The LPV control design is applied for a pitch control of the AUV to fulfill control design criteria on frequency and time domain. The final closed-loop system is tested for robust stability throughout the operational envelope.},
  author       = {Sutarto, Herman and Budiyono, Agus},
  issn         = {0379-5136},
  journal      = {INDIAN JOURNAL OF MARINE SCIENCES},
  keyword      = {Autonomous Underwater Vehicle,Robust Control,Linear Parameter Varying,Linear Fractional Transformation},
  language     = {eng},
  number       = {2},
  pages        = {275--286},
  title        = {Development of linear parameter varying control system for autonomous underwater vehicle},
  volume       = {40},
  year         = {2011},
}

Web of Science
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