Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques

Rui Gao; Hiroyuki Kajiwara; Eiji Kondo; Wataru Koterayama; Masahiko Nakamura

Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques

Rui Gao, Hiroyuki Kajiwara, Eiji Kondo, Wataru Koterayama, Masahiko Nakamura

研究成果: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

本文言語	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
Country	日本
City	Kitakyushu
Period	5/26/02 → 5/31/02

All Science Journal Classification (ASJC) codes

Ocean Engineering

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引用スタイル

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. ed. / J.S. Chung; M. Sayed; M. Kashiwagi; T. Setoguchi; S.W. Hong. Vol. 12 2002. p. 301-306.

研究成果: Chapter in Book/Report/Conference proceeding › Conference contribution

Gao, R, Kajiwara, H, Kondo, E, Koterayama, W & Nakamura, M 2002, Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. in JS Chung, M Sayed, M Kashiwagi, T Setoguchi & SW Hong (eds), Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference. vol. 12, pp. 301-306, Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference, Kitakyushu, 日本, 5/26/02.

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