Depth control of an underwater vehicle using linear parameter-varying techniques

R. Gao, E. Kondo, Hiroyuki Kajiwara, W. Koterayama, Masahiko Nakamura

研究成果: Contribution to journalArticle査読

1 被引用数 (Scopus)

抄録

The applicability of employing a linear parameter-varying (LPV) control to an underwater vehicle is investigated and compared to that of using a linear time-invariant robust control. The underwater vehicle is first modeled into a polytopic-type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performances such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. A parameter-dependent weight is investigated in the LPV synthesis. It is shown that the designed controller performs well over the entire operating range by computer simulation.

本文言語英語
ページ(範囲)52-59
ページ数8
ジャーナルInternational Journal of Offshore and Polar Engineering
13
1
出版ステータス出版済み - 3 1 2003

All Science Journal Classification (ASJC) codes

  • 土木構造工学
  • 海洋工学
  • 機械工学

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