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

R. Gao, Hiroyuki Kajiwara, E. Kondo, W. Koterayama, Masahiko Nakamura

研究成果: Contribution to conferencePaper査読

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.

本文言語英語
出版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 200211 20 2002

その他

その他Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium
国/地域大韓民国
CityDaejeon
Period11/17/0211/20/02

All Science Journal Classification (ASJC) codes

  • 地盤工学および土木地質学
  • 海洋工学

フィンガープリント

「Gain-scheduled control of an underwater vehicle using quasi-LPV techniques」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル