碩士 / 國立成功大學 / 造船工程學系 / 83 / Unmanned Underwater Vehicles have become the important tool to
explore the secret life undersea. They are used for various
purpose:inspection, recovery, construction, etc. With the
increased utilization of unmanned underwater vehicles in subsea
applications, the development of autonomous vehicles becomes
highly desirable to enhance operator efficiency. A six degree
of freedom model for the maneuvering of an underwater vehicle
is used and H-infty control autopilot are designed for the
combined steering, diving, and speed control functions. In
flight control applications of this kind, difficulties arise
because the system to be controlled is highly nonlinear,
coupled, and there is a good deal of parameter uncertainty and
variation with operational conditions. The development of
H_infty control has been shown to provide robustness that is
expected to be quite remarkable for AUV autopilot design. The
autopilot system is modeled by an interval plant description,
ant the classical Popov criterion is generalized to include
problems with parameteric uncertainty as well as nonlinear
sector bounded perturbations. The course keeping and waypoint
acquisition based on line of sight guidance is used on achieve
path keeping.
| Identifer | oai:union.ndltd.org:TW/083NCKU0345002 |
| Date | January 1995 |
| Creators | Keng-Ming Lai, 賴耿民 |
| Contributors | Cheng-Neng Hwang, 黃正能 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 72 |
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