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.
Robust Control For Underwater Vehicle Systems With Time Delays
1991
569726 byte
IEEE Journal of Oceanic Engineering, OE-16 (1), p.146-151 (1991)
Article (Journal)
Electronic Resource
English
Robust control for underwater vehicle systems with time delays
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