Title :
Depth Control for Towed Vehicle
Author :
Nasuno, Yohei ; Shimizu, Etsuro ; Deduka, Takahiro ; Ito, Masanori ; Masuda, Minoru ; Aoki, Taro
Author_Institution :
Machinery & Electr. Dept., TOA Corp., Yokohama
Abstract :
In this paper, a depth control problem for towed vehicle is considered. Generally the depth of the towed vehicle is not steady by the effect of the vibration of towing line. In order to keep the constant depth, a controller for variable horizontal tail fins, which are equipped on the towed vehicle considered this paper, is designed. Since the mathematical model of the towed vehicle can be expressed as a nonlinear equation, a nonlinear controller for the tail planes is derived by using linear matrix inequalities (LMIs).
Keywords :
linear matrix inequalities; marine engineering; seafloor phenomena; underwater vehicles; 3D mathematical model; depth control problem; horizontal tail fins; linear matrix inequalities; nonlinear controller; nonlinear equation; seabed survey; towed vehicle; Indium tin oxide; Marine technology; Marine vehicles; Mathematical model; Propulsion; Sonar; Tail; Underwater cables; Underwater vehicles; Vectors;
Conference_Titel :
OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2125-1
Electronic_ISBN :
978-1-4244-2126-8
DOI :
10.1109/OCEANSKOBE.2008.4531013
