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

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

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

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

Ship and Marine Dynamics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the International Offshore and Polar Engineering Conference
Publisher	Publ by Int Soc of Offshore and Polar Engineerns (ISOPE)
Pages	358-361
Number of pages	4
ISBN (Print)	1880653125
Publication status	Published - Jan 1 1994
Event	Proceedings of the 4th International Offshore and Polar Engineering Conference. Part 2 (of 4) - Osaka, Jpn Duration: Apr 10 1994 → Apr 15 1994

Publication series

Name	Proceedings of the International Offshore and Polar Engineering Conference
Volume	2

Other

Other	Proceedings of the 4th International Offshore and Polar Engineering Conference. Part 2 (of 4)
City	Osaka, Jpn
Period	4/10/94 → 4/15/94

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).

H∞ synthesis of depth control law for a towed ROV with a weight shift mechanism. / Kajiwara, Hiroyuki; Koterayama, W.; Sato, I. et al.

Proceedings of the International Offshore and Polar Engineering Conference. Publ by Int Soc of Offshore and Polar Engineerns (ISOPE), 1994. p. 358-361 (Proceedings of the International Offshore and Polar Engineering Conference; Vol. 2).

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

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. Proceedings of the International Offshore and Polar Engineering Conference, vol. 2, Publ by Int Soc of Offshore and Polar Engineerns (ISOPE), pp. 358-361, Proceedings of the 4th International Offshore and Polar Engineering Conference. Part 2 (of 4), Osaka, Jpn, 4/10/94.

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AB - 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.

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

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

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