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 proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 12th (2002) International Offshore and Polar Engineering Conference
EditorsJ.S. Chung, M. Sayed, M. Kashiwagi, T. Setoguchi, S.W. Hong
Pages301-306
Number of pages6
Volume12
Publication statusPublished - 2002
EventProceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference - Kitakyushu, Japan
Duration: May 26 2002May 31 2002

Other

OtherProceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference
CountryJapan
CityKitakyushu
Period5/26/025/31/02

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All Science Journal Classification (ASJC) codes

  • Ocean Engineering

Cite this

Gao, R., Kajiwara, H., Kondo, E., Koterayama, W., & Nakamura, M. (2002). Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. In J. S. Chung, M. Sayed, M. Kashiwagi, T. Setoguchi, & S. W. Hong (Eds.), Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference (Vol. 12, pp. 301-306)