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• W2001124541 abstract "This paper presents an analysis of the dynamics and performance of a towed underwater vehicle and a study into the robust control design of such a vehicle. Firstly, the open-loop dynamical model is analysed to enhance understanding of its controllability and observability. The use of H∞ is advocated to combat the uncertainties inherent in the complex non-linear model, the discrepancies arising between non-linear and linear models and any unknown disturbances. However, a novel procedure for automating the choice of weighting functions in the design process is introduced. This includes a performance, or quality, index dependent on user-specified parameters including time- or frequency-domain terms. The resulting controller performance is comprehensively analysed by means of both simple and complex channel commands applied to the non-linear simulation. An adaptive scheme involving a multivariable identification procedure is then proposed to improve the performance in a wide range of the trim point. A discussion of the consequences of this scheme is given. © 1998 John Wiley & Sons, Ltd." @default.
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• W2001124541 date "1998-12-01" @default.
• W2001124541 modified "2023-10-18" @default.
• W2001124541 title "Robust control and analysis of a towed underwater vehicle" @default.
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• W2001124541 doi "https://doi.org/10.1002/(sici)1099-1115(199812)12:8<689::aid-acs518>3.0.co;2-c" @default.
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