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
9c367ed7-948d-4ade-9700-bae2db9675ed
2003
Mohd. Saleh, Nor Suzlinda
9c367ed7-948d-4ade-9700-bae2db9675ed
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: 16 Mar 2024 20:08
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Author:
Nor Suzlinda Mohd. Saleh
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