抄録
The applicability of employing a linear parameter varying(LPV) control to an underwater vehicle is investigated and is compared to that of using a linear time-invariant robust control. The control objective is to enable the controlled vehicle avoid obstacle effectively. The underwater vehicle, named DELTA, is first modeled into polytopic type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performance such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. Parameter-dependent weight is investigated in LPV synthesis. It is shown that the controller designed performs well over the entire operating range by computer simulation.
| 元の言語 | 英語 |
|---|---|
| ホスト出版物のタイトル | Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference |
| 編集者 | J.S. Chung, M. Sayed, M. Kashiwagi, T. Setoguchi, S.W. Hong |
| ページ | 301-306 |
| ページ数 | 6 |
| 巻 | 12 |
| 出版物ステータス | 出版済み - 2002 |
| イベント | Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference - Kitakyushu, 日本 継続期間: 5 26 2002 → 5 31 2002 |
その他
| その他 | Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference |
|---|---|
| 国 | 日本 |
| 市 | Kitakyushu |
| 期間 | 5/26/02 → 5/31/02 |
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All Science Journal Classification (ASJC) codes
- Ocean Engineering
これを引用
Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. / Gao, Rui; Kajiwara, Hiroyuki; Kondo, Eiji; Koterayama, Wataru; Nakamura, Masahiko.
Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference. 版 / J.S. Chung; M. Sayed; M. Kashiwagi; T. Setoguchi; S.W. Hong. 巻 12 2002. p. 301-306.研究成果: 著書/レポートタイプへの貢献 › 会議での発言
}
TY - GEN
T1 - Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques
AU - Gao, Rui
AU - Kajiwara, Hiroyuki
AU - Kondo, Eiji
AU - Koterayama, Wataru
AU - Nakamura, Masahiko
PY - 2002
Y1 - 2002
N2 - The applicability of employing a linear parameter varying(LPV) control to an underwater vehicle is investigated and is compared to that of using a linear time-invariant robust control. The control objective is to enable the controlled vehicle avoid obstacle effectively. The underwater vehicle, named DELTA, is first modeled into polytopic type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performance such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. Parameter-dependent weight is investigated in LPV synthesis. It is shown that the controller designed performs well over the entire operating range by computer simulation.
AB - The applicability of employing a linear parameter varying(LPV) control to an underwater vehicle is investigated and is compared to that of using a linear time-invariant robust control. The control objective is to enable the controlled vehicle avoid obstacle effectively. The underwater vehicle, named DELTA, is first modeled into polytopic type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performance such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. Parameter-dependent weight is investigated in LPV synthesis. It is shown that the controller designed performs well over the entire operating range by computer simulation.
UR - http://www.scopus.com/inward/record.url?scp=1842554877&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=1842554877&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:1842554877
VL - 12
SP - 301
EP - 306
BT - Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference
A2 - Chung, J.S.
A2 - Sayed, M.
A2 - Kashiwagi, M.
A2 - Setoguchi, T.
A2 - Hong, S.W.
ER -