Model reference control of deep submergence vehicles

The feasibility of employing a model reference controller synthesis technique to design a control system for a deen submergence vehicle (DSV) is investigated. The synthesis technique is based on Liapunov's direct method and may be applied to nonlinear, time-varying, multivariable systems. The c...

Full description

Saved in:
Bibliographic Details
Published inIEEE 1971 Conference on Engineering in the Ocean Environment pp. 302 - 305
Main Authors Hsing, C., Monopoli, R.
Format Conference Proceeding
LanguageEnglish
Published 1971
Subjects
Control system synthesis
Difference equations
Differential equations
Ellipsoids
Force control
Gravity
Shape
Torque
Vectors
Vehicles
Online AccessGet full text

Cover

More Information
Summary:The feasibility of employing a model reference controller synthesis technique to design a control system for a deen submergence vehicle (DSV) is investigated. The synthesis technique is based on Liapunov's direct method and may be applied to nonlinear, time-varying, multivariable systems. The control system is based on a nonlinear control law. It forces the vehicle to behave like a linear time-invariant reference model. For motion in a plane, six model state variables are defined as the vehicle's desired position coordinates and velocity components. An error vector is defined with components equal to the difference between these desired states and the vehicle's actual position coordinates and velocity components. The control system causes the error vector to approach zero. Two types of control action are discussed: maneuvering from one specified position to another, and maintaining a fixed position under the influence of random currents. The two situations are simulated on a digital computer. Simulation results show that the vehicle behaves as desired in both cases.
DOI:10.1109/OCEANS.1971.1161073