NDLI: Nonlinear H/sub /spl infin// optimal PID control of autonomous underwater vehicles

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Nonlinear H/sub /spl infin// optimal PID control of autonomous underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Park, J. Wankyun Chung Yuh, J.
Copyright Year	2000
Description	Author affiliation: Fac. of Eng., Hiroshima Univ., Japan (Park, J.)
Abstract	Design of a PID control based on the nonlinear H/sub /spl infin// optimal control technique for autonomous underwater robots (AUVs) is presented. First of all, by reparameterizing the conventional PID control in terms of the reference error feedback (REF), the PID control is tuned using the single parameter called the REF gain on account of the nonlinear L/sub 2/-gain analysis. One of the biggest differences arising in the control of such an AUV lies in the slow control and measurement frequency with significant measurement corruption and severe thruster saturation and it is quite difficult to tune the PID control gains. The numerical simulations employing the AUV, called the ODIN, will verify that the proposed control is also effective in such a situation.
Starting Page	193
Ending Page	198
File Size	518362
Page Count	6
File Format	PDF
ISBN	0780363787
DOI	10.1109/UT.2000.852540
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-05-26
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-term control Optimal control Underwater vehicles Robots Control systems Control design Frequency measurement Nonlinear control systems Robust control Automotive engineering
Content Type	Text
Resource Type	Article

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