Multivariable optimal control of an autonomous underwater vehicle for steering and diving control in variable speed

Oceans Conference Record (IEEE)

Volumn 5, Issue , 2003, Pages 2659-2664

  Jeon, Bong Hwan ^a   Lee, Pan Mook ^a   Li, Ji Hong ^a   Hong, Seok Won ^a   Kim, Yeon Gyu ^a   Lee, Jihong ^b  

^a Korea Research Institute of Ships and Ocean Engineering   (South Korea)

^b Chungnam National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); LINEAR CONTROL SYSTEMS; MANIPULATORS; MOTION CONTROL; MULTIVARIABLE CONTROL SYSTEMS; OPTIMAL CONTROL SYSTEMS; ORDNANCE; ROBUSTNESS (CONTROL SYSTEMS); SLIDING MODE CONTROL;

DIVING CONTROL; LINEAR QUADRATIC CONTROL; MINE DISPOSAL VEHICLE; MULTIVARIABLE OPTIMAL CONTROL; STEERING CONTROL;

REMOTELY OPERATED VEHICLES;

EID: 1542506160     PISSN: 01977385     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. Hong S.W, et al., "Design and Implementation of a Dual Use Purpose Semi-Autonomous Underwater Vehicle", Underwater Defense Technology 2002, Korea, 2002
2. P. M. Lee, S. W. Hong, et al., "Discrete-time quasi-sliding mode control of an autonomous underwater vehicle," IEEE J. of Oceanic Eng., Vol. 24, No. 2, pp. 388-395, 1999.
3. Anthony J. Healey, David Lienard, "Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles", IEEE J. of Oceanic Eng. Vol. 18, No. 3, 1993
4. Thor I. Fossen and Ola-Erik Fjellstad, "Robust adaptive control of underwater vehicles: a comparative study", The 3rd IFAC Workshop on Control Applications CAMS'95, 1995
5. Feldman J., "DTNSRDC Revised Standard Submarine Equations of Motion", DTNSRDC /SPD-0393-09, 1979
6. Gertler, M., and Hagen, G. R., "Standard equations of motion for submarine simulations," NSRDC Report No. 2510, 1967
7. Thor I. Fossen, Guidance and Control of Ocean Vehicles, John Wiley & Sons Ltd. 1994