Robust Control For Underwater Vehicle Systems With Time Delays

Author(s)
Triantafyllou, Michael S .; Grosenbaugh, Mark A.
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Abstract
Presented in this paper is a robust control scheme for controlling systems with time delays. The scheme is based on the Smith controller and the LQG/LTR (Linear Quadratic Gaussian/Loop Transfer Recovery) methodology. The methodology is applicable to undenvater vehicle systems that exhibit time delays, including tethered vehicles that are positioned through the movements of a surface ship and autonomous vehicles that are controlled through an acoustic link. An example, using full-scale data from the Woods Hole Oceanographic Institution’s tethered vehicle ARGO, demonstrates the developments.
Date issued
1991
URI
http://hdl.handle.net/1721.1/18538
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Institute of Electrical and Electronic Engineers
Citation
IEEE Journal of Oceanic Engineering, OE-16 (1), p.146-151 (1991)
Keywords
Robust control, Underwater Vehicle Systems
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