Time-delay state feedback control for an underactuated AUV with model uncertainty constraints

A time-delay state feedback controller is designed for an underactuated AUV of three-dimensional stabilization control with input time-delay and model parameter uncertainty. Firstly, by analyzing the sources of the underactuated vehicle’s parameter uncertainty, its uncertainty of inertia matrix coefficient is mainly considered. Under this condition, the state feedback controller with time-delay is improved. Then, the state feedback control law that can guarantee the system to be uniformly asymptotically stable is given. And the feedback gain of the state feedback controller is solved by the LMI method. Finally, a simulation experiment of time-delay stabilization control with bounded parameter perturbation norm is designed. The results show that the proposed control law is robust to parameter perturbation.