This article investigates an enhanced optimal robust time-delay stabilizer for an autonomous underwater vehicle in the descriptor model. Time-delay, model uncertainty, and actuator saturation constraint are some practical challenges in autonomous underwater vehicle controller design. In this regard, an appropriate autonomous underwater vehicle descriptor model is obtained, and sufficient stabilization conditions are determined in the terms of linear matrix inequality. The obtained criterion guarantees the system to be regular, impulse-free, and stable. Meanwhile, the delay-dependent and rate-dependent conditions are taken into account. Furthermore, uncertainty and time-delay are time-variant. This method includes a tuning factor for practical design aspects and tradeoff among desired requirements. Also, as an essential general requirement in non-linear systems, the maximal estimate of the attraction domain is proposed as an optimization problem. Numerical examples and simulations illustrate that the proposed methods are effective and useful in less conservative results. The technique can be generalized and applied to the most conventional autonomous underwater vehicles.

本文研究了描述符模型中自主水下航行器的增强型最优鲁棒时滞稳定器。时间延迟、模型不确定性和执行器饱和约束是自主水下航行器控制器设计中的一些实际挑战。在这方面，获得了适当的自主水下航行器描述符模型，并根据线性矩阵不等式确定了足够的稳定条件。得到的准则保证了系统是规则的、无脉冲的和稳定的。同时，考虑了延迟相关和速率相关的条件。此外，不确定性和时间延迟是随时间变化的。该方法包括实际设计方面的调整因子和所需要求之间的权衡。还，作为非线性系统的基本一般要求，吸引域的最大估计被提出作为优化问题。数值例子和模拟表明，所提出的方法在不太保守的结果中是有效和有用的。该技术可以推广并应用于最传统的自主水下航行器。