Robust controller design of underwater vehicle against structured perturbation

구조화된 교란에 대한 수중 운동체의 견실 제어기 설계

The problem of robust control of a underwater vehicle subject to variation of a real parameter and velocity is considered. The controller set which stabilized perturbed plant is chosen using numerical gradient method and the controller is used for nominal performance and robust performance. Simulation results are presented to show that the precise montion control of the controller is accomplished under perturbation in the system.