Robust Control For Underwater Vehicle Systems With Time Delays
Presented in this paper is a robust control scheme for controlling systems with time delays. The scheme is based on the Smith controller and the LQG/LTR (Linear Quadratic Gaussian/Loop Transfer Recovery) methodology. The methodology is applicable to undenvater vehicle systems that exhibit time d...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronic Engineers
2005
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/18538 |
| _version_ | 1824458396249620480 |
|---|---|
| author | Triantafyllou, Michael S . Grosenbaugh, Mark A. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Triantafyllou, Michael S . Grosenbaugh, Mark A. |
| author_sort | Triantafyllou, Michael S . |
| collection | MIT |
| description | Presented in this paper is a robust control scheme for
controlling systems with time delays. The scheme is based on the Smith
controller and the LQG/LTR (Linear Quadratic Gaussian/Loop Transfer
Recovery) methodology. The methodology is applicable to undenvater
vehicle systems that exhibit time delays, including tethered vehicles
that are positioned through the movements of a surface ship and
autonomous vehicles that are controlled through an acoustic link. An
example, using full-scale data from the Woods Hole Oceanographic
Institution’s tethered vehicle ARGO, demonstrates the developments. |
| first_indexed | 2024-09-23T15:49:23Z |
| format | Article |
| id | mit-1721.1/18538 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2025-02-19T04:25:13Z |
| publishDate | 2005 |
| publisher | Institute of Electrical and Electronic Engineers |
| record_format | dspace |
| spelling | mit-1721.1/185382025-02-11T19:45:55Z Robust Control For Underwater Vehicle Systems With Time Delays Triantafyllou, Michael S . Grosenbaugh, Mark A. Massachusetts Institute of Technology. Department of Mechanical Engineering Robust control Underwater Vehicle Systems Presented in this paper is a robust control scheme for controlling systems with time delays. The scheme is based on the Smith controller and the LQG/LTR (Linear Quadratic Gaussian/Loop Transfer Recovery) methodology. The methodology is applicable to undenvater vehicle systems that exhibit time delays, including tethered vehicles that are positioned through the movements of a surface ship and autonomous vehicles that are controlled through an acoustic link. An example, using full-scale data from the Woods Hole Oceanographic Institution’s tethered vehicle ARGO, demonstrates the developments. 2005-08-04T01:00:42Z 2005-08-04T01:00:42Z 1991 Article http://hdl.handle.net/1721.1/18538 IEEE Journal of Oceanic Engineering, OE-16 (1), p.146-151 (1991) en_US Copyright: Institute of Electrical and Electronic Engineers (IEEE) This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. http://www.ieee.org/portal/site/mainsite/menuitem.818c0c39e85ef176fb2275875bac26c8/index.jsp?&pName=corp_level1&path=about/documentation/copyright&file=policies.xml&xsl=generic.xsl 569726 bytes application/pdf application/pdf Institute of Electrical and Electronic Engineers |
| spellingShingle | Robust control Underwater Vehicle Systems Triantafyllou, Michael S . Grosenbaugh, Mark A. Robust Control For Underwater Vehicle Systems With Time Delays |
| title | Robust Control For Underwater Vehicle Systems With Time Delays |
| title_full | Robust Control For Underwater Vehicle Systems With Time Delays |
| title_fullStr | Robust Control For Underwater Vehicle Systems With Time Delays |
| title_full_unstemmed | Robust Control For Underwater Vehicle Systems With Time Delays |
| title_short | Robust Control For Underwater Vehicle Systems With Time Delays |
| title_sort | robust control for underwater vehicle systems with time delays |
| topic | Robust control Underwater Vehicle Systems |
| url | http://hdl.handle.net/1721.1/18538 |
| work_keys_str_mv | AT triantafylloumichaels robustcontrolforunderwatervehiclesystemswithtimedelays AT grosenbaughmarka robustcontrolforunderwatervehiclesystemswithtimedelays |