Presented in this paper is a robust control scheme for controlling systems with time delays. The scheme is based on the Smith controller and the LQG/LTR (Linear Quadratic Gaussian/Loop Transfer Recovery) methodology. The methodology is applicable to undenvater vehicle systems that exhibit time delays, including tethered vehicles that are positioned through the movements of a surface ship and autonomous vehicles that are controlled through an acoustic link. An example, using full-scale data from the Woods Hole Oceanographic Institution’s tethered vehicle ARGO, demonstrates the developments.


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    Titel :

    Robust Control For Underwater Vehicle Systems With Time Delays


    Beteiligte:

    Erscheinungsdatum :

    1991


    Format / Umfang :

    569726 byte


    Anmerkungen:

    IEEE Journal of Oceanic Engineering, OE-16 (1), p.146-151 (1991)


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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