Spectral design of $H_{\infty}$-optimal tracking controller with multipurpose structure

This research is focused on the design of the tracking control laws, that guarantee insensitivity to the external disturbances. This problem is complicated by the fact that its spectral features are not fully presented. The proposed algorithm is based on spectral approach in frequency domain to $H_{\infty}$-optimization, which guarantees non-uniqueness of the optimal solution that makes it possible to design the controller in multipurpose structure. This approach to the optimal controller design reduces computational time of synthesis that is essential in case of onboard control systems of autonomous moving robots with an adaptive changeover in real-time operating mode. Applicability and effectiveness of the presented approach are demonstrated by numerical example of a tracking control design for the remotely operated marine vehicle.