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 language | English |
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Pages (from-to) | 31-36 |
Number of pages | 6 |
Journal | IFAC-PapersOnLine |
Volume | 36 |
Issue number | 4 |
DOIs | |
State | Published - 2003 |
Externally published | Yes |
Event | 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV 2003 - Newport, United Kingdom Duration: 9 Apr 2003 → 11 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