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 language | English |
|---|---|
| Title of host publication | 7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007 |
| Pages | 355-360 |
| Number of pages | 6 |
| Edition | PART 1 |
| State | Published - 2007 |
| Externally published | Yes |
| Event | 7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007 - Bol, Croatia Duration: 19 Sep 2007 → 21 Sep 2007 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Number | PART 1 |
| Volume | 7 |
| ISSN (Print) | 1474-6670 |
Conference
| Conference | 7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007 |
|---|---|
| Country/Territory | Croatia |
| City | Bol |
| Period | 19/09/07 → 21/09/07 |
Bibliographical note
Funding Information:1 Partially supported by CAPES 2 Partially supported by FAPESP
Keywords
- Guidance
- Robust control
- Underwater vehicles