| Título: | Robust Control For Underwater Vehicle Systems With Time Delays |
| Autores: |
Triantafyllou, Michael S . Grosenbaugh, Mark A. |
| Fecha: |
2005-08-04 2005-08-04 1991 |
| Publicador: | MIT |
| Fuente: |
 |
| Tipo: | Article |
| Tema: |
Robust control Underwater Vehicle Systems |
| Descripción: | 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. |
| Idioma: | Inglés |
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