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 proceedingConference contribution

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 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
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 20025 31 2002

その他

その他Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference
Country日本
CityKitakyushu
Period5/26/025/31/02

All Science Journal Classification (ASJC) codes

  • Ocean Engineering

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