A State Feedback Approach based Design of a Robust Yaw Control for Submersible Autonomous Robot through Semi-Definite Programming

This paper describes the robust optimal control algorithm for a submersible autonomous robot (SAR) to achieve the desired yaiv. Yaw rate of SAR is controlled through the design of robust state feedback optimal control law. Semi-definite programming is considered to develop the proposed robust optimal control algorithm. A linear matrix inequality (LMI) considewred in terms of linear quadratic regulator (LQR) is used to solve the control problem. A polytopic approach based robust optimal control laiv is formulated in a steering plane for SAR. For the implementation of the proposed control algorithm, YALMIP tool is used in Matlab/Simulink environment. The proposed control algorithm ensures the robust behavior by tracking the desired yaw.