%0 Conference Proceedings %T Structured H ∞ Regulations Applied to AUV Yaw Control %+ Lab-STICC_ENSTAB_CID_PRASYS %+ Lab-STICC_ENSTAB_CACS_COM %A Yang, Rui %A Liu, Yan %A Monnet, Dominique %A Clement, Benoit %A Mansour, Ali %Z This work was supported by the National Natural Science Foundation of China (No. 51709245), Central University Fundamental Research Fund (No. 201713033) and Qingdao Post-Doctoral Fund (No. 861705040024). %< avec comité de lecture %B OCEANS 2019 - Marseille %C Marseille, France %I IEEE %P 1-5 %8 2019-06-17 %D 2019 %R 10.1109/OCEANSE.2019.8867446 %Z Engineering Sciences [physics]/AutomaticConference papers %X Structured H∞ regulation provides robust controllers with highly generalized forms, and recent Min-Max Interval Branch and Bound Algorithm (MMIBBA) improves the H∞ synthesis efficiency by solving global optimized result in a guaranteed way. Due to the advantages such as global optimization over a local result, convex reformulation, and reduced order form, structured H∞ control method is very attractive to Autonomous Underwater Vehicle (AUV) control issues in presence of uncertainties. However, formulating structural H∞ problem deeply affects the global optimizing result. Key issues such as designing controller structures and formulating optimization constraints are still challenging. Therefore, this paper studied three structural H∞ controllers: PID, Anti-Windup PID, and Minimal-Zero PID. Different H∞ control structures and optimization constraints are designed and compared on CISCREA AUV yaw control scenario. Corresponding robust synthesis results and control simulation are analyzed in the end. %G English %L hal-03212469 %U https://ensta-bretagne.hal.science/hal-03212469 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM