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.


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    Title :

    Robust control for underwater vehicle systems with time delays


    Additional title:

    Stabile Regelung für Unterwasserfahrzeugsysteme mit Verzögerungszeiten


    Contributors:

    Published in:

    Publication date :

    1991


    Size :

    6 Seiten, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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