### 抄録

In this paper, the longitudinal control problem of an underwater vehicle undergoing obstacle avoidance, with large velocity variation, is considered and a gain-scheduled design is presented as a solution. Vehicle dynamics are transformed into a quasi-linear parameter varying form first. Then, the longitudinal control is constructed in two layers. The outer loop plays the role of guidance offering desired velocity command, which is tracked by the inner loop of the control law. The linear parameter varying (LPV) methodology used in the inner loop design circumvents the use of difficult nonlinear control techniques, and cancels the effects of velocity dependent terms. Furthermore, a simplified implementation scheme employing switched LPV control is investigated. Nonlinear simulation demonstrates the effectiveness of the proposed approach.

元の言語 | 英語 |
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出版物ステータス | 出版済み - 12 1 2002 |

イベント | Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium - Daejeon, 大韓民国 継続期間: 11 17 2002 → 11 20 2002 |

### その他

その他 | Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium |
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国 | 大韓民国 |

市 | Daejeon |

期間 | 11/17/02 → 11/20/02 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Geotechnical Engineering and Engineering Geology
- Ocean Engineering

### これを引用

*Gain-scheduled control of an underwater vehicle using quasi-LPV techniques*. 論文発表場所 Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium, Daejeon, 大韓民国.

**Gain-scheduled control of an underwater vehicle using quasi-LPV techniques.** / Gao, R.; Kajiwara, Hiroyuki; Kondo, E.; Koterayama, W.; Nakamura, Masahiko.

研究成果: 会議への寄与タイプ › 論文

}

TY - CONF

T1 - Gain-scheduled control of an underwater vehicle using quasi-LPV techniques

AU - Gao, R.

AU - Kajiwara, Hiroyuki

AU - Kondo, E.

AU - Koterayama, W.

AU - Nakamura, Masahiko

PY - 2002/12/1

Y1 - 2002/12/1

N2 - In this paper, the longitudinal control problem of an underwater vehicle undergoing obstacle avoidance, with large velocity variation, is considered and a gain-scheduled design is presented as a solution. Vehicle dynamics are transformed into a quasi-linear parameter varying form first. Then, the longitudinal control is constructed in two layers. The outer loop plays the role of guidance offering desired velocity command, which is tracked by the inner loop of the control law. The linear parameter varying (LPV) methodology used in the inner loop design circumvents the use of difficult nonlinear control techniques, and cancels the effects of velocity dependent terms. Furthermore, a simplified implementation scheme employing switched LPV control is investigated. Nonlinear simulation demonstrates the effectiveness of the proposed approach.

AB - In this paper, the longitudinal control problem of an underwater vehicle undergoing obstacle avoidance, with large velocity variation, is considered and a gain-scheduled design is presented as a solution. Vehicle dynamics are transformed into a quasi-linear parameter varying form first. Then, the longitudinal control is constructed in two layers. The outer loop plays the role of guidance offering desired velocity command, which is tracked by the inner loop of the control law. The linear parameter varying (LPV) methodology used in the inner loop design circumvents the use of difficult nonlinear control techniques, and cancels the effects of velocity dependent terms. Furthermore, a simplified implementation scheme employing switched LPV control is investigated. Nonlinear simulation demonstrates the effectiveness of the proposed approach.

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M3 - Paper

AN - SCOPUS:0346304951

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