Title :
Dynamic control design LQR PI vectorial of remotely operated underwater vehicle
Author :
Rodriguez, Saul ; Pena, Mauricio ; Ramirez, Ricardo
Author_Institution :
Univ. Libre, Bogota, Colombia
Abstract :
This Document shows the control LQR (Linear quadratic Regulator) PI (Proportional Integral)Vectorial design, which is developed to control the dynamic of a remote operated underwater vehicle ROV, to allow that the vehicle follow a horizontal trajectory autonomously . The results are showed through simulations of following the trajectory of ROV obtaining satisfactory results and complying with the objective to control the dynamic while follow a trajectory.
Keywords :
PI control; autonomous underwater vehicles; control system synthesis; linear quadratic control; telerobotics; ROV; dynamic control design LQR PI vectorial; linear quadratic regulator; proportional integral vectorial design; remotely operated underwater vehicle; Equations; Mathematical model; Trajectory; Underwater vehicles; Vehicle dynamics; Vehicles;
Conference_Titel :
Engineering Mechatronics and Automation (CIIMA), 2014 III International Congress of
Conference_Location :
Cartagena
Print_ISBN :
978-1-4799-7931-8
DOI :
10.1109/CIIMA.2014.6983465
