Advanced Search

Robust Control For Underwater Vehicle Systems With Time Delays

Research and Teaching Output of the MIT Community

Show simple item record Triantafyllou, Michael S . Grosenbaugh, Mark A. 2005-08-04T01:00:42Z 2005-08-04T01:00:42Z 1991
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.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

Files in this item

Name Size Format Description
Triantafyllou-199 ... 556.3Kb PDF

This item appears in the following Collection(s)

Show simple item record