Multivariable Control of an Underwater Vehicle

Abstract

Mathematical modeling of a submerged vehicle is accomplished using the Naval Ship Research and Development Center 2510 Report equiations of motion with crossflow and vortex shedding terms added. A multivariable depth and heading controller is designed using the Linear Quadratic Gaussian/Loop Transfer Recovery design procedure wherein stability and robustness specifications are met in the frequency domain for a MIMO (Multi Input Multi Output) system. The resulting combination of the model-based compensator and plant is tested using a nonlinear simulation. With gain scheduling, multivariable control is extended over the vehicle's entire speed range.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1984
Accession Number
ADA144774

Entities

People

  • Logan G. Milliken

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Closed Loop Systems
  • Computational Science
  • Computer Simulations
  • Control Surfaces
  • Control Systems
  • Control Systems Engineering
  • Differential Equations
  • Engineering
  • Equations
  • Equations Of Motion
  • Frequency
  • Frequency Domain
  • Modal Analysis
  • Scheduling (Production)
  • Simulations
  • Underwater Vehicles
  • Vortex Shedding

Readers

  • Control Systems Engineering.
  • Robotics and Automation.