H{infinity} control of a remotely operated underwater vehicle
- Univ. degli Studi di Ancona (Italy)
The paper discusses the application of H{infinity} control techniques to the design of a control system for a remotely operated underwater vehicle. As the main problem in defining a control strategy for such vehicles is the nonlinear and uncertain nature of the modeled dynamics, the robustness properties of H{infinity} controllers can in principle be used to provide stability and nominal performances for the closed loop system. Therefore, a control strategy based on a scheduling of such controllers has been proposed, and the overall performance of the closed loop system have been evaluated by means of nonlinear simulation in a broad range of working conditions, with particular attention to the effects of the underwater current that acts on the vehicle.
- OSTI ID:
- 398044
- Report Number(s):
- CONF-940409-; ISBN 1-880653-10-9; TRN: 96:029941
- Resource Relation:
- Conference: 4. international conference on offshore and polar engineering, Osaka (Japan), 10-15 Apr 1994; Other Information: PBD: 1994; Related Information: Is Part Of The proceedings of the fourth (1994) international offshore and polar engineering conference. Volume 2; Chung, J.S. [ed.] [Colorado School of Mines, Golden, CO (United States)]; Karal, K. [ed.] [Norwegian Contractors, Stabekk (Norway)]; Koteryama, Wataru [ed.] [Kyushu Univ., Kasuga (Japan)]; PB: 640 p.
- Country of Publication:
- United States
- Language:
- English
Similar Records
Application of H[infinity] control theory to power control of a nonlinear reactor model
Underwater work by remotely operated vehicles (ROV's)