Title :
Depth control of a submersible vehicle under a seaway using a noise estimator
Author :
Chen, G. ; Chung, S.-H.
Author_Institution :
Chung Cheng Inst. of Technol., Taoyuan, Taiwan
Abstract :
This paper presents a new design method for submarine depth control. An autopilot strategy based on a noise estimator and an optimal controller is proposed so that the depth keeping of a submersible vehicle at slow speed under a rough sea is improved. A Luenberger observer estimates the disturbances due to the large waves, and this is fed forward into a linear quadratic Gaussian (LQG) optimal control strategy. Simulation results show how the vertical plane movement of the submarine near the surface of a choppy sea is improved
Keywords :
State estimation; marine systems; noise; optimal control; state estimation; transport computer control; LQG optimal control; Luenberger observer; autopilot strategy; large wave disturbances; linear quadratic Gaussian optimal control strategy; noise estimator; optimal controller; submarine depth control; submersible vehicle;
Conference_Titel :
Electronic Engineering in Oceanography, 1994., Sixth International Conference on
Conference_Location :
Cambridge
Print_ISBN :
0-85296-619-9
DOI :
10.1049/cp:19940570
