Title :
Scheduled Control of a Small Unmanned Underwater Vehicle Using Zero Optimization
Author :
Þorgilsson, Helgi ; Herjólfsson, Gísli ; Hauksdóttir, Anna Soffía ; Sigurosson, S.P.
Abstract :
In this paper a zero optimizing methodology is used to tune a scheduled PID controller for Gavia, a small autonomous underwater vehicle (AUV). Applying this methodology to a linear parametrically varying (LPV) model results in a scheduled controller effectively linearizing the system. Using the zero optimizing methodology is very simple and only requires a predefined reference system with the desired transient behavior
Keywords :
linear systems; mobile robots; remotely operated vehicles; three-term control; underwater vehicles; zero assignment; Gavia; PID controller; autonomous underwater vehicle; linear parametrically varying model; predefined reference system; scheduled control; unmanned underwater vehicle; zero optimization; Equations; Lakes; Marine vehicles; Oceans; Open loop systems; Optimal control; Optimization methods; Remotely operated vehicles; Three-term control; Underwater vehicles;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376771
