Robust control of an underwater vehicle
Robust control of an underwater vehicle
An H-infmity controller has been designed for the heading control of an underwater vehicle. The performance weighting function, and the robustness weighting function, ^^3(^9) were obtained 60m experimental data. The results of simulated heading responses were determined using an underwater vehicle simulation program, y4z/^o7(0)^and MATLAB robust control toolbox. A nonlinear simulation program was also used to observe the behaviour of the underwater vehicle to nonlinear underwater dynamics. The simulated results of the H-infinity controller were compared with the PID controller and results showed that the H-infinity based controller can withstand uncertainties such as random noise and rudder delay better than a PID based controller.
University of Southampton
Mohd. Saleh, Nor Suzlinda
2003
Mohd. Saleh, Nor Suzlinda
Mohd. Saleh, Nor Suzlinda
(2003)
Robust control of an underwater vehicle.
University of Southampton, Doctoral Thesis.
Record type:
Thesis
(Doctoral)
Abstract
An H-infmity controller has been designed for the heading control of an underwater vehicle. The performance weighting function, and the robustness weighting function, ^^3(^9) were obtained 60m experimental data. The results of simulated heading responses were determined using an underwater vehicle simulation program, y4z/^o7(0)^and MATLAB robust control toolbox. A nonlinear simulation program was also used to observe the behaviour of the underwater vehicle to nonlinear underwater dynamics. The simulated results of the H-infinity controller were compared with the PID controller and results showed that the H-infinity based controller can withstand uncertainties such as random noise and rudder delay better than a PID based controller.
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Published date: 2003
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Local EPrints ID: 465367
URI: http://eprints.soton.ac.uk/id/eprint/465367
PURE UUID: 755b2e16-2893-4e54-902b-77db751942a6
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Date deposited: 05 Jul 2022 00:40
Last modified: 05 Jul 2022 05:02
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Author:
Nor Suzlinda Mohd. Saleh
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