Abstract
In this paper, the longitudinal control problem of an underwater vehicle undergoing obstacle avoidance, with large velocity variation, is considered and a gain-scheduled design is presented as a solution. Vehicle dynamics are transformed into a quasi-linear parameter varying form first. Then, the longitudinal control is constructed in two layers. The outer loop plays the role of guidance offering desired velocity command, which is tracked by the inner loop of the control law. The linear parameter varying (LPV) methodology used in the inner loop design circumvents the use of difficult nonlinear control techniques, and cancels the effects of velocity dependent terms. Furthermore, a simplified implementation scheme employing switched LPV control is investigated. Nonlinear simulation demonstrates the effectiveness of the proposed approach.
Original language | English |
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Title of host publication | Proceedings of the ISOPE Ocean Mining Symposium |
Editors | J.S. Chung, S. Won Hong |
Publication status | Published - 2002 |
Event | Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium - Daejeon, Korea, Republic of Duration: Nov 17 2002 → Nov 20 2002 |
Other
Other | Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium |
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Country/Territory | Korea, Republic of |
City | Daejeon |
Period | 11/17/02 → 11/20/02 |
All Science Journal Classification (ASJC) codes
- Engineering(all)