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ＩｎｔｒｏｄｕｃｔｉｏｎＴｈｅｓａｍｐｌｅｄ－ｄａｔａＨ∞ｏｐｔｉｍａｌｃｏｎｔｒｏｌｐｒｏｂｌｅｍｉｓｔｏｍｉｎｉｍｉｚｅｔｈｅＬ２－ｉｎｄｕｃｅｄｎｏｒｍｆｒｏｍｔｈｅｃｏｎ－ｔｉｎｕｏｕｓ－ｔｉｍｅｄｉｓｔｕｒｂａｎｃｅｔｏｔｈｅｃｏｎｔｉｎｕ... 相似文献
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11ntroductionObserver-basedcontrollersarewidelyadop-tedinthesynthesisofmultivariablefeedbackcontrolsystems.Theprocedureofdesigningsuchcontrollersisdividedintotwosteps,inthefirststep,astatefeedbackgainisdesignedsothattheresultingstatefeedbackloopmeetsagivendesignspecification;inthesecondstep,anobserverisdesignedtoreconstructthestate.Thereconstructedstatevectorismultipliedbythestatefeedbackgaintoproducethecontrolin-put.Theresultingcontrollersguaranteeclosed-loopstabilityaswellassatisfactoryperfo… 相似文献
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冯正平 《上海交通大学学报(英文版)》2010,15(2):194-198
The design approach of H∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing H∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respecti... 相似文献