LQG/LTR control of an autonomous underwater vehicle using a hybrid guidance law

W. Naeem, R. Sutton, S. M. Ahmad

Research output: Contribution to journalConference articlepeer-review

12 Scopus citations

Abstract

This paper addresses the issue of guidance and control of an autonomous underwater vehicle (AUV) for a cable tracking problem. A linear quadratic Gaussian controller with loop transfer recovery (LQG/LTR) is developed because of its strong robustness properties. The vehicle is guided towards the target using a combination of different guidance algorithms. The vehicle speed is used to formulate the guidance problem. Simulation results are presented and a comparison is made between fix and variable AUV speeds.

Original languageEnglish
Pages (from-to)31-36
Number of pages6
JournalIFAC-PapersOnLine
Volume36
Issue number4
DOIs
StatePublished - 2003
Externally publishedYes
Event1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV 2003 - Newport, United Kingdom
Duration: 9 Apr 200311 Apr 2003

Bibliographical note

Publisher Copyright:
Copyright © 2003 IFAC.

Keywords

  • Autonomous underwater vehicle
  • Cable tracking
  • Control
  • Guidance
  • LQG/LTR

ASJC Scopus subject areas

  • Control and Systems Engineering

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