Robust control for underwater vehicle guidance

Juan Carlos Cutipa Luque, Decio Crisol Donha

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007
Páginas355-360
Número de páginas6
EdiciónPART 1
EstadoPublicada - 2007
Publicado de forma externa
Evento7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007 - Bol, Croacia
Duración: 19 set. 200721 set. 2007

Serie de la publicación

NombreIFAC Proceedings Volumes (IFAC-PapersOnline)
NúmeroPART 1
Volumen7
ISSN (versión impresa)1474-6670

Conferencia

Conferencia7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007
País/TerritorioCroacia
CiudadBol
Período19/09/0721/09/07

Nota bibliográfica

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

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