Abstract
The paper is concerned with a robust control problem for an underwater vehicle with uncertainties of hydrodynamic coefficients. Based on sensitivity analysis of hydrodynamic coefficients, a linear model with 4 vertices is introduced. The problem is formulated in the framework of multi-model based design of H∝ control law with pole region constraints, and solved by an interior-point method numerically. Some successful simulation and experimental results are shown.
Original language | English |
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Title of host publication | Proceedings of the International Offshore and Polar Engineering Conference |
Editors | J.S. Chung, C.H. Kim, M. Olagnon, S. Naito |
Publisher | Int Soc of Offshore and Polar Engineerns (ISOPE) |
Pages | 51-55 |
Number of pages | 5 |
Volume | 2 |
Publication status | Published - 1997 |
Externally published | Yes |
Event | Proceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4) - Honolulu, HI, USA Duration: May 25 1997 → May 30 1997 |
Other
Other | Proceedings of the 1997 7th International Offshore and Polar Engineering Conference. Part 3 (of 4) |
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City | Honolulu, HI, USA |
Period | 5/25/97 → 5/30/97 |
All Science Journal Classification (ASJC) codes
- Ocean Engineering