Journal of Vibration and Control, ( ISI ), Volume (28), Year (2021-7) , Pages (3302-3314)

Title : ( Admissibility analysis for autonomous underwater vehicle based on descriptor model with time-varying delay )

Authors: Mohammad Hedayati Khodayari , Naser Pariz , Saeed Balochian ,

Citation: BibTeX | EndNote

Abstract

This article investigates an enhanced optimal robust time-delay stabilizer for an autonomous underwater vehicle in the descriptor model. Time-delay, model uncertainty, and actuator saturation constraint are some practical challenges in autonomous underwater vehicle controller design. In this regard, an appropriate autonomous underwater vehicle descriptor model is obtained, and sufficient stabilization conditions are determined in the terms of linear matrix inequality. The obtained criterion guarantees the system to be regular, impulse-free, and stable. Meanwhile, the delay-dependent and rate-dependent conditions are taken into account. Furthermore, uncertainty and time-delay are time-variant. This method includes a tuning factor for practical design aspects and tradeoff among desired requirements. Also, as an essential general requirement in non-linear systems, the maximal estimate of the attraction domain is proposed as an optimization problem. Numerical examples and simulations illustrate that the proposed methods are effective and useful in less conservative results. The technique can be generalized and applied to the most conventional autonomous underwater vehicles.

Keywords

, Autonomous underwater vehicle, descriptor systems, linear matrix inequality, actuator saturation
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@article{paperid:1085771,
author = {Hedayati Khodayari, Mohammad and Pariz, Naser and Saeed Balochian},
title = {Admissibility analysis for autonomous underwater vehicle based on descriptor model with time-varying delay},
journal = {Journal of Vibration and Control},
year = {2021},
volume = {28},
month = {July},
issn = {1077-5463},
pages = {3302--3314},
numpages = {12},
keywords = {Autonomous underwater vehicle; descriptor systems; linear matrix inequality; actuator saturation},
}

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%0 Journal Article
%T Admissibility analysis for autonomous underwater vehicle based on descriptor model with time-varying delay
%A Hedayati Khodayari, Mohammad
%A Pariz, Naser
%A Saeed Balochian
%J Journal of Vibration and Control
%@ 1077-5463
%D 2021

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