| dc.contributor.author | Triantafyllou, Michael S . | |
| dc.contributor.author | Grosenbaugh, Mark A. | |
| dc.date.accessioned | 2005-08-04T01:00:42Z | |
| dc.date.available | 2005-08-04T01:00:42Z | |
| dc.date.issued | 1991 | |
| dc.identifier.uri | http://hdl.handle.net/1721.1/18538 | |
| dc.description.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. | en |
| dc.format.extent | 569726 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.language.iso | en_US | en |
| dc.publisher | Institute of Electrical and Electronic Engineers | en |
| dc.rights | Copyright: Institute of Electrical and Electronic Engineers (IEEE)
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. | |
| dc.rights.uri | http://www.ieee.org/portal/site/mainsite/menuitem.818c0c39e85ef176fb2275875bac26c8/index.jsp?&pName=corp_level1&path=about/documentation/copyright&file=policies.xml&xsl=generic.xsl | |
| dc.subject | Robust control | en |
| dc.subject | Underwater Vehicle Systems | en |
| dc.title | Robust Control For Underwater Vehicle Systems With Time Delays | en |
| dc.type | Article | en |
| dc.identifier.citation | IEEE Journal of Oceanic Engineering, OE-16 (1), p.146-151 (1991) | en |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | |
