Optimal Disturbance Suppression of Disturbed Underwater Vehicle With State Delay

In this paper, the optimal disturbance suppression problem of disturbed underwater vehicle with state delay is studied. Firstly, we establish the mathematical model of the motion of the disturbed underwater vehicle and linearize it. Secondly, the mathematical model with state delay is transformed into a formal mathematical model without time-delay by using the no time-delay transformation method. Then, according to the optimal control theory, the optimal disturbance suppression control law of the disturbed underwater vehicle with state delay is designed based on the quadratic performance index. This control law can be obtained by solving the Riccati matrix equation and Sylvester matrix equation. Finally, the effectiveness of the method is verified by an AUV system simulation example.