Scheduled control of a small unmanned underwater vehicle using zero optimization

被引：0
|
作者：
Porgilsson, Helgi
Herjolfsson, Gisli
Hauksdottir, Anna Sofia
Sigurosson, Sven P.
机构：
来源：
PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年
关键词：
D O I：
10.1109/CDC.2006.376771
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a zero optimizing methodology is used to tune a scheduled PIID controller for Gavia, a small autonomous underwater vehicle (AUV). Applying this methodology to a linear parametrically varying (LPV) model results in a scheduled controller effectively linearizing the system. Using the zero optimizing methodology is very simple and only requires a predefined reference system with the desired transient behavior.
引用
收藏
页码：5900 / 5905
页数：6
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