The problem of AUV (Autonomous Underwater Vehicle) control in the absence of full state information is addressed. An application is made to the control of a prototype AUV in the vertical plane. The methodology adopted for controller design is nonlinear gain-scheduling control, whereby a set of linear, dynamic, reduced order output feedback controllers are designed and scheduled on the vehicle's forward speed. The controller design steps are summarized, a technique for its practical implementation is described and experimental results are presented obtained with the prototype INFANTE AUV during tests at sea.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Depth control of the INFANTE AUV using gain-scheduled reduced order output feedback


    Weitere Titelangaben:

    Tiefenregelung des autonomen Unterwasserfahrzeuges INFANTE mittels Ausgangsrückführung reduzierter Ordnung und Proportionalbeiwertanpassung


    Beteiligte:
    Silvestre, C. (Autor:in) / Pascoal, A. (Autor:in)


    Erscheinungsdatum :

    2007


    Format / Umfang :

    13 Seiten, 15 Bilder, 2 Tabellen, 24 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    Tailored Dynamic Gain-Scheduled Control

    C. D. C. Jones / M. H. Lowenberg / T. Richardson | AIAA | 2006


    Tailored Dynamic Gain-Scheduled Control

    Jones, C.D.C. | Online Contents | 2006


    Dynamic State-Feedback Gain Scheduled Control of the ICE 101-TV

    Jones, Christopher / Lowenberg, Mark / Richardson, Thomas | AIAA | 2004