| Status | 已發表Published |
| Control of an Underwater Vehicle using H-infinity Synthesis | |
Kaminer, I; Pascoal, A; Khargonekar, P; Silvestre, C
| |
| 1991-12-01 | |
| Source Publication | Proc. of the 30th IEEE Conference on Decision and Control (CDC 1991)
 |
| Pages | 2350-2355 |
| Publication Place | Piscataway |
| Publisher | IEEE |
| Abstract | This paper presents the results of a design exercise in which recent developments in H-infinity synthesis theory were applied to the design of a controller for an Autonomous Underwater Vehicle (AUV). The problem statement requires the design of a position and attitude control system for the vehicle to achieve precise trajectory following. The major steps in the synthesis procedure were as follows. A detailed nonlinear dynamic model of the AUV was derived, and an operating point for nominal design was selected. After linearization around the nominal operating point, a multivariable controller was designed using standard techniques of 'H00 theory. The performance of the controller was evaluated in simulations with a full nonlinear model of the vehicle. |
| Keyword | H-infinity Control AUVs. |
| Language | 英語English |
| The Source to Article | PB_Publication |
| PUB ID | 46167 |
| Document Type | Conference paper |
| Collection | DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING |
| Recommended Citation GB/T 7714 | Kaminer, I,Pascoal, A,Khargonekar, P,et al. Control of an Underwater Vehicle using H-infinity Synthesis[C], Piscataway:IEEE, 1991, 2350-2355. |
| APA | Kaminer, I., Pascoal, A., Khargonekar, P., & Silvestre, C (1991). Control of an Underwater Vehicle using H-infinity Synthesis. Proc. of the 30th IEEE Conference on Decision and Control (CDC 1991), 2350-2355. |
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