Mathematical modeling of a submerged vehicle is accomplished using the Naval Ship Research and Development Center 2510 Report equations of motion with crossflow and vortex shedding terms added. A multivariable depth and heading controller is designed using the Linear Quadratic Gaussian/Loop Transfer Recovery design procedure wherein stability and robustness specifications are met in the frequency domain for a MIMO (Multi Input Multi Output) system. The resulting combination of the model-based compensator and plant is tested using a nonlinear simulation. With gain scheduling, multivariable control is extended over the vehicle's entire speed range.
Multivariable Control of an Underwater Vehicle
1984
152 pages
Report
No indication
English
Marine Engineering , Control systems , Mathematical models , Depth control , Bearing(Direction) , Cross flow , Vortex shedding , Equations of motion , Control theory , Stability , Compensators , Gaussian quadrature , Frequency , Dynamic programming , Gain , Scheduling , Velocity , Variables , Linear systems , Feedback , Open loop systems , Computerized simulation , Nonlinear systems , Underwater vehicles , Theses , Multivariable systems , LQG(Linear Quadratic Gaussian) , LTR(Loop Transfer Recovery)
Multivariable control of an underwater vehicle c by Logan George Milliken.
DSpace@MIT | 1984
|Identification of Multivariable Models of Underwater Vehicles
British Library Conference Proceedings | 2003
|Application of Multivariable Control to Air Vehicle
NTIS | 2002
|CONTROL DEVICE OF UNDERWATER VEHICLE, UNDERWATER VEHICLE AND CONTROL METHOD OF UNDERWATER VEHICLE
European Patent Office | 2019
|UNDERWATER VEHICLE AND UNDERWATER VEHICLE CONTROL METHOD
European Patent Office | 2016
|