Multivariable QLQC/LTR depth control of underwater vehicles with deadzone

사역대를 갖는 수중운동체의 다변수 QLQG/LTR 심도제어

In general, for underwater vehicles in low speed, depthkeeping operations are carried out by using the variation of the weight in the seaway tank. The depthkeeping control of underwater vehicles is difficult because of the deadzone effect in the flow rate control valve. In this paper, the nonlinear multivariable QLQG/LTR control system using a seaway tank and bow planes is synthesized in order to improve the performance of the depth control system. The computer simulation results show the multivariable QLQG/LTR control system has good depth control performance under the deadzone effect.