Admissibility analysis for autonomous underwater vehicle based on descriptor model with time-varying delay

Author:

Hedayati Khodayari Mohammad1,Pariz Naser1ORCID,Balochian Saeed2ORCID

Affiliation:

1. Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran

2. Department of Electrical Engineering, Gonabad Branch, Islamic Azad University, Gonabad, Iran

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.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Mechanics of Materials,Aerospace Engineering,Automotive Engineering,General Materials Science

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