H∞ control of thruster for AUV

被引：0
|
作者：
Nakamura, M [1 ]
Bachmayer, R [1 ]
Whitcomb, LL [1 ]
Grosenbaugh, M [1 ]
机构：
[1] Kyushu Univ, Kasuga, Fukuoka 816, Japan
来源：
PROCEEDINGS OF THE EIGHTH INTERNATIONAL OFFSHORE AND POLAR ENGINEERING, VOL 2 | 1998年
关键词：
marine thruster; thrust control; H(infinity) control; ROV;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
Precise automatic control of an autonomous underwater vehicle during maneuvering and dynamic positioning requires accurate control of the thrusters. In this paper, we present the design for an H (infinity) controller. Laboratory experiments and simulations of step and sinusoidal responses are used to demonstrate the effectiveness of the design.
引用
收藏
页码：255 / 262
页数：4
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