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: 会議への寄与タイプ論文

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
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 200211 20 2002

その他

その他Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium
大韓民国
Daejeon
期間11/17/0211/20/02

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underwater vehicle
Gain control
Longitudinal control
Collision avoidance
methodology
simulation
parameter

All Science Journal Classification (ASJC) codes

  • Geotechnical Engineering and Engineering Geology
  • Ocean Engineering

これを引用

Gao, R., Kajiwara, H., Kondo, E., Koterayama, W., & Nakamura, M. (2002). 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.

2002. 論文発表場所 Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium, Daejeon, 大韓民国.

研究成果: 会議への寄与タイプ論文

Gao, R, Kajiwara, H, Kondo, E, Koterayama, W & Nakamura, M 2002, '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, 11/17/02 - 11/20/02, .
Gao R, Kajiwara H, Kondo E, Koterayama W, Nakamura M. Gain-scheduled control of an underwater vehicle using quasi-LPV techniques. 2002. 論文発表場所 Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium, Daejeon, 大韓民国.
Gao, R. ; Kajiwara, Hiroyuki ; Kondo, E. ; Koterayama, W. ; Nakamura, Masahiko. / 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.
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