Gain Scheduling Control of Infante Auv Using Lmi

The paper addresses the problem of Autonomous Underwater Vehicles which is an under actuated system that traverses autonomously without any external interference and findsextensive applications in defence organizations for underwater mine detection and region surveillance. The system is modelled using INFANTE AUV hydrodynamic parameters that are controlled by path following control using MATLAB. The paper is concerned with depth control of AUV using Model Predictive Control without considering disturbances. The depth control is concerned with the design of control laws that force a vehicle to reach and maintain a fixed position in vertical plane. The depth and pitch angle control of body fixed z-axis to a fixed point using MPC toolbox of MATLAB is shown in the paper. Also, an application is made to the control of a prototype AUV in the vertical plane using nonlinear gain-scheduling control, whereby a set of linear, dynamic, reduced order output feedback controllers are designed and scheduled on the vehicle‟s forward speed. The paper summarizes the controller design steps, describes a technique for its practical implementation, and presents experimental results obtained with the INFANTE AUV using MATLAB.