Title :
Robust control system design for a towed underwater vehicle
Author :
Kajiwara, Hiroyuki ; Koterayama, Wataru ; Yamaguchi, Satoru ; Yokobiki, Takashi
Author_Institution :
Fac. of Eng., Kyushu Univ., Fukuoka, Japan
fDate :
6/24/1905 12:00:00 AM
Abstract :
Based on linear parameter varying control theory, the paper presents a robust control strategy for a towed underwater vehicle disturbed by both wave oscillation and velocity variation of the towing ship.
Keywords :
mobile robots; motion control; remotely operated vehicles; robust control; underwater vehicles; Flying Fish; LPV control theory; linear parameter varying model; robust control strategy; towed underwater vehicle; towing ship; velocity variation; wave oscillation; Automotive engineering; Control theory; Data engineering; Marine animals; Marine vehicles; Robust control; Tail; Three-term control; Underwater vehicles; Velocity control;
Conference_Titel :
Underwater Technology, 2002. Proceedings of the 2002 International Symposium on
Print_ISBN :
0-7803-7397-9
DOI :
10.1109/UT.2002.1002428
