Abstract
The controlled motion of an underwater vehicle is very likely to be affected by arbitrary disturbances with considerable magnitudes. In this paper, we develop a simple approach for optimal robust control design of underwater robotic vehicles having decentralized input-output structure. Our design method is based on an explicit condition on the control input matrix which has been found to be necessary and sufficient for a decentralized control system to be robust against arbitrary, but otherwise, bounded disturbances. That makes it possible to get optimal trade-off relations between the bounds of disturbances, the system output accuracy, and the control force limits. For the robust control design purpose, we apply decentralized sliding-mode control the stability of which can be easily verified using Lyapunov theory. In order to show the effectiveness of the design method, the controlled planar motion of an underwater robotic vehicle is taken as an illustrative example.
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