ABSTRACT
Control of the submersible autonomous robot (SAR) in the depth plane is depicted in this chapter. A polytopic system is developed using uncertain hydrodynamics SAR parameters. The robust behavior of the closed-loop SAR system is exhibited using a state feedback optimal control algorithm. A linear quadratic regulator (LQR)-based optimal control law generates the controller gains by solving the linear matrix inequalities (LMIs). A set of LMIs is formed for different uncertain parameters and is solved using semi-definite programming. The LMIs are formulated using a set of state matrices and input matrices that are generated for the selected uncertain parameters. The desired depth is considered a variable step signal at different time instants. The control algorithm tracks the desired depth by ensuring robust behavior. The simulation uses the YALMIP toolbox in Matlab/Simulink environment.
