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: 著書/レポートタイプへの貢献会議での発言

1 引用 (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.

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
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 20025 31 2002

その他

その他Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference
日本
Kitakyushu
期間5/26/025/31/02

Fingerprint

Controllers
Robust control
Poles
Feedback
Computer simulation

All Science Journal Classification (ASJC) codes

  • Ocean Engineering

これを引用

Gao, R., Kajiwara, H., Kondo, E., Koterayama, W., & Nakamura, M. (2002). Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. : J. S. Chung, M. Sayed, M. Kashiwagi, T. Setoguchi, & S. W. Hong (版), Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference (巻 12, pp. 301-306)

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

Gao, R, Kajiwara, H, Kondo, E, Koterayama, W & Nakamura, M 2002, Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. : JS Chung, M Sayed, M Kashiwagi, T Setoguchi & SW Hong (版), Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference. 巻. 12, pp. 301-306, Proceedings of the Twelfth (2002) International Offshore and Polar Engineering Conference, Kitakyushu, 日本, 5/26/02.
Gao R, Kajiwara H, Kondo E, Koterayama W, Nakamura M. Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. : Chung JS, Sayed M, Kashiwagi M, Setoguchi T, Hong SW, 編集者, Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference. 巻 12. 2002. p. 301-306
Gao, Rui ; Kajiwara, Hiroyuki ; Kondo, Eiji ; Koterayama, Wataru ; Nakamura, Masahiko. / Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques. 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. 巻 12 2002. pp. 301-306
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