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 |
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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 |
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Country | Japan |
City | Kitakyushu |
Period | 5/26/02 → 5/31/02 |
All Science Journal Classification (ASJC) codes
- Ocean Engineering