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http://dx.doi.org/10.5370/KIEE.2017.66.3.563

Depth and Speed Control of Large Diameter Unmanned Underwater Vehicles  

Kim, Do Wan (Dept. of Electrical Engineering, Hanbat National University)
Kim, Moon Hwan (Maritime R&D Center, LIG Nex1 Co., Ltd.)
Park, Ho-Gyu (Maritime R&D Center, LIG Nex1 Co., Ltd.)
Kim, Tae-Yeong (Maritime R&D Center, LIG Nex1 Co., Ltd.)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.66, no.3, 2017 , pp. 563-567 More about this Journal
Abstract
This paper deals with the depth and speed controls of a class of nonlinear large diameter unmanned underwater vehicles (LDUUVs), while maintaining its attitude. The concerned control problem can be viewed as an asymptotic stabilization of the error model in terms of its desired depth, surge speed and attitude. To tackle its nonlinearities, the linear parameter varying (LPV) model is employed. Sufficient linear matrix inequality (LMI) conditions are provided for its asymptotic stabilization. A numerical simulation is provided to demonstrate the effectiveness of the proposed design methodology.
Keywords
Large diameter unmanned underwater vehicles (LDUUV); Depth control; Speed control; Lyapunov; Linear matrix inequality (LMI); Asymptotic stability;
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