Robust control for underwater vehicle systems with time delays

Author

Triantafyllou, Michael S. ; Grosenbaugh, Mark A.

Author_Institution

Dept. of Ocean Eng., MIT, Cambridge, MA, USA

Volume

16

Issue

1

fYear

1991

fDate

1/1/1991 12:00:00 AM

Firstpage

146

Lastpage

151

Abstract

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

Keywords

automatic guided vehicles; controllers; delays; marine systems; multivariable control systems; telecontrol; underwater sound; vehicles; ARGO; LQG/LTR; Smith controller; acoustic link; autonomous vehicles; linear quadratic Gaussian/loop transfer recovery; multivariable control; robust control; tethered vehicles; time delays; underwater vehicle systems; Control systems; Delay effects; Delay systems; Marine vehicles; Mobile robots; Oceans; Remotely operated vehicles; Robust control; Sea surface; Underwater vehicles;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.64894

Filename

64894