Robust control for underwater vehicle guidance

Juan Carlos Cutipa Luque, Decio Crisol Donha

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Nowadays the control of under-actuated underwater vehicles with coupled dynamics is a research of major interest, not only but mainly due to the large number of applications in the offshore industry. In a former work, authors developed a controller exhibiting desired robustness features, which unfortunately presented a poor performance in tracking activities. To tackle this problem, a two degree of freedom robust controller using an Hoomixed sensitivity approach as before was then developed. A Light of Sight (LOS) guidance control law was also added to face the impossibility of a straight control of position variables within the used optimal approach. Simulation results of an Underwater vehicle with six degree of freedom using the centralized controller show now strong robustness and a very good performance.

Original languageEnglish
Title of host publication7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007
Pages355-360
Number of pages6
EditionPART 1
StatePublished - 2007
Externally publishedYes
Event7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007 - Bol, Croatia
Duration: 19 Sep 200721 Sep 2007

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume7
ISSN (Print)1474-6670

Conference

Conference7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007
Country/TerritoryCroatia
CityBol
Period19/09/0721/09/07

Bibliographical note

Funding Information:
1 Partially supported by CAPES 2 Partially supported by FAPESP

Keywords

  • Guidance
  • Robust control
  • Underwater vehicles

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