Robust control for underwater vehicle systems with time delays |
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| Authors: | Triantafyllou MS Grosenbaugh MA |
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| Institution: | Dept. of Ocean Eng., MIT, Cambridge, MA; |
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| Abstract: | A robust control scheme is presented 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 underwater 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 tethered vehicle ARGO, demonstrates the developments |
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