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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Tiefenregelung des autonomen Unterwasserfahrzeuges INFANTE mittels Ausgangsrückführung reduzierter Ordnung und Proportionalbeiwertanpassung


    Contributors:
    Silvestre, C. (author) / Pascoal, A. (author)


    Publication date :

    2007


    Size :

    13 Seiten, 15 Bilder, 2 Tabellen, 24 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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

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



    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