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Coefficient diagram method for the control of an unmanned underwater vehicle

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Title Coefficient diagram method for the control of an unmanned underwater vehicle
 
Creator Budiyono, Agus
Kartidjo, Muljowidodo
Sugama, Agus
 
Subject Unmanned Underwater Vehicle
Coefficient Diagram Method
Underwater Robotics
 
Description 316-323




The operational demand for unmanned underwater vehicles
has been growing rapidly in the recent past. For long range

operations, such as oceanographic exploration and
surveying, autonomous underwater vehicles (AUVs) which are equipped

with on-board power and advanced control and navigation,
have more promises to carry out tasks with the minimum

operator intervention. Unlike other fixed platforms,
autonomous underwater vehicles are particularly of interest due to their

ability to provide continuous spatial and temporal
observations. The safe operation of AUV relies on its autonomous

navigation and control system. The paper is concerned
with the synthesis of control system for an autonomous underwater

vehicle using a coefficient diagram method. CDM is an
algebraic approach applied to polynomial loop in the parameter

space, where the so-called coefficient diagram is used as
the means to convey the necessary design information and as the

criteria of good design. The effectiveness of the control
technique is demonstrated through a number of automatic control

designs for motions in the longitudinal mode of AUV
Squid, an autonomous underwater robotic designed and developed at

Institut Teknologi Bandung.
 
Date 2009-10-19T08:44:37Z
2009-10-19T08:44:37Z
2009-09
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/6208
 
Language en_US
 
Publisher CSIR
 
Source IJMS Vol.38(3) [September 2009]