Robust control for underwater vehicle systems with time delays

Abstract

A robust control scheme is presented for controlling systems with time delays. The scheme is based on the Smith controller and the LQG/LTR (linear quadratic Gaussian/loop transfer recovery) methodology. The methodology is applicable to underwater vehicle systems that exhibit time delays, including tethered vehicles that are positioned through the movements of a surface ship and autonomous vehicles that are controlled through an acoustic link. An example, using full-scale data from the tethered vehicle ARGO, demonstrates the developments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>