A robust control scheme is presented 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 underwater 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 tethered vehicle ARGO, demonstrates the developments.
Robust control for underwater vehicle systems with time delays
Stabile Regelung für Unterwasserfahrzeugsysteme mit Verzögerungszeiten
IEEE Journal of Oceanic Engineering ; 16 , 1 ; 146-151
1991
6 Seiten, 25 Quellen
Article (Journal)
English
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