H∞ synthesis of depth control law for a towed ROV with a weight shift mechanism

Hiroyuki Kajiwara, W. Koterayama, I. Sato, Masahiko Nakamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper treats a design problem of depth control law for a towed ROV with a weight shift mechanism under variations of the towing speed. For the mixed sensitivity problem formulation in applying robust control theory, the parameter perturbations are captured by a norm band of multiplicative perturbations, which is the main contribution of the paper. In order to evaluate a resultant controller obtained by H∞ synthesis, we will investigate nonlinear simulations of the closed-loop system. We can observe that the results of the H∞ synthesis are much better than those of LQ synthesis.

Original languageEnglish
Title of host publicationProceedings of the International Offshore and Polar Engineering Conference
PublisherPubl by Int Soc of Offshore and Polar Engineerns (ISOPE)
Pages358-361
Number of pages4
ISBN (Print)1880653125
Publication statusPublished - Jan 1 1994
EventProceedings of the 4th International Offshore and Polar Engineering Conference. Part 2 (of 4) - Osaka, Jpn
Duration: Apr 10 1994Apr 15 1994

Publication series

NameProceedings of the International Offshore and Polar Engineering Conference
Volume2

Other

OtherProceedings of the 4th International Offshore and Polar Engineering Conference. Part 2 (of 4)
CityOsaka, Jpn
Period4/10/944/15/94

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All Science Journal Classification (ASJC) codes

  • Energy Engineering and Power Technology
  • Ocean Engineering
  • Mechanical Engineering

Cite this

Kajiwara, H., Koterayama, W., Sato, I., & Nakamura, M. (1994). H∞ synthesis of depth control law for a towed ROV with a weight shift mechanism. In Proceedings of the International Offshore and Polar Engineering Conference (pp. 358-361). (Proceedings of the International Offshore and Polar Engineering Conference; Vol. 2). Publ by Int Soc of Offshore and Polar Engineerns (ISOPE).