Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 10 Issue 4
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- Pages.118-127
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- 1993
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
QLQG/LTR Depth Control System Design for Underwater Vehicles
수중운동체를 위한 QLQG/LTR 심도 제어시스템 설계
Abstract
A nonlinear control design method called the QJQG/LTR method is presented for the depth control of underwater vehicles with the deadzone of the flow control valve. And, it is shown how the design plant model can be formulated in the QLQG/LTR depth control system design for underwater vehicles which have the triple integrator. In order to show the effectiveness of this control system, the linear LQG/LTR control system neglected the deadzone effect and the nonlinear QLQG/LTR control system considered it are compared. It is found that the QLQG/LTR control system is relatively insensitive to the input magnitude, even if there exists a hard nonlinearity in the plant.