A comparative study of some control systems for a submersible

Author

Moraes, Hélio F. ; Sales, Roberto M. ; Cumming, Helton P. ; Silva, Wagner M.

Author_Institution

Cidade Univ., Sao Paulo, Brazil

fYear

1994

fDate

19-20 Jul 1994

Firstpage

242

Lastpage

246

Abstract

In this paper simulation result of four control strategies of heading angle (yaw) and depth for a submersible are presented. The submersible mathematical model has six degrees of freedom: three translational and three rotational. Control of the submersible is accomplished by deflection of rudder, stern plane and bowplane. This model is linearized around various operation points and for each one of them a controller is designed. Such controller consists of a linear quadratic regulator and a Kalman filter. The purpose of the paper is the study of some commutation strategies between different controllers when a change occur from one operation point to another

Keywords

Kalman filters; control system synthesis; linear quadratic control; marine systems; position control; Kalman filter; bowplane deflection; control systems; heading angle control; linear quadratic regulator; rudder deflection; stern deflection; submersible; Control systems; Earth; Interpolation; Marketing and sales; Mathematical model; Nonlinear control systems; Regulators; Resumes; Robust stability; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on

Conference_Location

Cambridge, MA

Print_ISBN

0-7803-1808-0

Type

conf

DOI

10.1109/AUV.1994.518631

Filename

518631