Title :
H∞ submarine depth and pitch control
Author :
Der molen, Gerrit M. ; Grimble, Michael J.
Author_Institution :
Ind. Control Centre, Strathclyde Univ., Glasgow, UK
Abstract :
A multivariable (2×2) H∞-controller is designed for depth keeping of a submarine under wave disturbances using bow and stern hydroplanes. The influence of the control design weighting functions and other design parameters on the control and closed-loop systems are shown, indicating how an initial unsatisfactory design can be improved upon. The final controller functions well while the submarine operates at periscope depth under a heavy sea, over a wide speed range
Keywords :
control system synthesis; marine systems; multivariable control systems; optimal control; bow hydroplanes; closed-loop systems; control design weighting functions; multivariable H∞-controller; pitch control; stem hydroplanes; submarine depth control; wave disturbances; Actuators; Boats; Control design; Control systems; Force control; Frequency; Industrial control; Linear approximation; Surges; Underwater vehicles;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325648
