Robust Control For Underwater Vehicle Systems With Time Delays

  title={Robust Control For Underwater Vehicle Systems With Time Delays},
  author={Michael and Triantafyllou and A F Mark and Grosenbaugh},
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… CONTINUE READING

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