Submarine depth and pitch control

Author

Grimble, Michael J. ; van der Molen, G.M. ; Liceaga-Castro, Eduardo

Author_Institution

Ind. Control Centre, Strathclyde Univ., Glasgow, UK

fYear

1993

fDate

13-16 Sep 1993

Firstpage

953

Abstract

An introduction to the design procedures which should be employed for a multivariable system with difficult control requirements is presented. To design an LQG or H_∞ controller the system model must be selected in addition to the cost function weights. There is often more freedom in the selection of the system model and in its representation than might be first thought. The submarine depth control problem is a useful vehicle to explore the design issues since it is two input and two output and the order of the system is not so large that it will hide the essential characteristics. Moreover, there are limitations of the use of the actuators which complicates the design process, making the choice of weightings more challenging

Keywords

control system synthesis; marine systems; multivariable systems; optimal control; position control; H_∞ controller; LQG control; actuators; cost function; depth control; multivariable system; pitch control; submarine; weightings; Actuators; Aerodynamics; Bandwidth; Boats; Control system synthesis; Control systems; Sea surface; Surface waves; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1993., Second IEEE Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1993.348208

Filename

348208