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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    Title :

    Robust Control For Underwater Vehicle Systems With Time Delays



    Publication date :

    1991


    Size :

    569726 byte


    Remarks:

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


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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