This thesis research focuses on the design and implementation of H∞, μ and Linear Parametric Varying (LPV) Controllers for an omnidirectional submersible robotic vehicle to mitigate the hydrodynamic instability caused by munk moment. These controllers will not only stabilize the linear time-invariant (LTI) nominal model system dynamics, but also adapt to uncertainties introduced when cruising speed or angle of the jets are changed due to the submersible robot maneuvering to a desired trajectory. While widening the range of operation is desirable, the uncertainty and performance variables must be bounded to practical limitations to help develop the uncertainty functions and keep the system dynamics implementable in real-life scenarios. The goal is to improve performance and add larger stability margins for parameter variations with the use of robust system frameworks in order to incorporate an adjustable speed and jet angles to improve maneuverability while maintaining controllability which could not be handled by the original controller due to its limitations of non-linear systems. The numerical simulation of the proposed three controller closed-loop system clearly illustrates the efficiency of the robust system frameworks for uncertain submersible robotic vehicles.
Robust system frameworks for an omnidirectional submersible robotic vehicle
2018-08-01
Miscellaneous
Electronic Resource
English
DDC: | 629 |
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