Robust Control For Underwater Vehicle Systems With Time Delays
Author(s)Triantafyllou, Michael S .; Grosenbaugh, Mark A.
MetadataShow full item record
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.
Institute of Electrical and Electronic Engineers
IEEE Journal of Oceanic Engineering, OE-16 (1), p.146-151 (1991)
Robust control, Underwater Vehicle Systems