Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques

Rui Gao; Hiroyuki Kajiwara; Eiji Kondo; Wataru Koterayama; Masahiko Nakamura

Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques

Rui Gao, Hiroyuki Kajiwara, Eiji Kondo, Wataru Koterayama, Masahiko Nakamura

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The applicability of employing a linear parameter varying(LPV) control to an underwater vehicle is investigated and is compared to that of using a linear time-invariant robust control. The control objective is to enable the controlled vehicle avoid obstacle effectively. The underwater vehicle, named DELTA, is first modeled into polytopic type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performance such as bounded L₂-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. Parameter-dependent weight is investigated in LPV synthesis. It is shown that the controller designed performs well over the entire operating range by computer simulation.

Original language	English
Title of host publication	Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference
Editors	J.S. Chung, M. Sayed, M. Kashiwagi, T. Setoguchi, S.W. Hong
Pages	301-306
Number of pages	6
Volume	12
Publication status	Published - 2002
Event	Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference - Kitakyushu, Japan Duration: May 26 2002 → May 31 2002

Other

Other	Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference
Country/Territory	Japan
City	Kitakyushu
Period	5/26/02 → 5/31/02

All Science Journal Classification (ASJC) codes

Ocean Engineering

Cite this

Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. / Gao, Rui; Kajiwara, Hiroyuki; Kondo, Eiji et al.

Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference. ed. / J.S. Chung; M. Sayed; M. Kashiwagi; T. Setoguchi; S.W. Hong. Vol. 12 2002. p. 301-306.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Gao, R, Kajiwara, H, Kondo, E, Koterayama, W & Nakamura, M 2002, Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. in JS Chung, M Sayed, M Kashiwagi, T Setoguchi & SW Hong (eds), Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference. vol. 12, pp. 301-306, Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference, Kitakyushu, Japan, 5/26/02.

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AB - The applicability of employing a linear parameter varying(LPV) control to an underwater vehicle is investigated and is compared to that of using a linear time-invariant robust control. The control objective is to enable the controlled vehicle avoid obstacle effectively. The underwater vehicle, named DELTA, is first modeled into polytopic type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performance such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. Parameter-dependent weight is investigated in LPV synthesis. It is shown that the controller designed performs well over the entire operating range by computer simulation.

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Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques

Abstract

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All Science Journal Classification (ASJC) codes

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