Development of Linear Parameter Varying Control System for Autonomous Underwater Vehicle

Abstract

Development and application of Linear Parameter Varying (LPV) control system for robust longitudinal AUV controller on ITB-Squid AUV are presented. LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. The LPV control design is applied to pitch-rate control of the AUV to fulfill the specification. This extended abstract will be focused on building the LFT model as representation of dynamic variations over a wide range of the operating conditions. The result shows that the second-order polynomial is needed to have a better approximation. Full analysis and discussion will be given in the final paper.