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http://dx.doi.org/10.3744/SNAK.2009.46.4.382

Depth Control of a Submerged Body Near the Free Surface by LQR Control Method  

Kim, Dong-Jin (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Rhee, Key-Pyo (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Choi, Jin-Woo (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Lee, Sung-Kyun (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Publication Information
Journal of the Society of Naval Architects of Korea / v.46, no.4, 2009 , pp. 382-390 More about this Journal
Abstract
The submerged body near the free surface is disturbed by the 1st and 2nd order wave forces, which results in unstable movements when no control is applied. In this paper, the vertical motions of the submerged body are analyzed, and the time-variant nonlinear system for the vertical motions of the submerged body is transformed to the time-invariant linear system in state space. Next, depth controller of the submerged body is designed by using LQR control, one of the modern optimal control technique. Numerical simulation shows that effective depth controls can be achieved by LQR control.
Keywords
Submerged body; Vertical motion; 1st and 2nd order Wave forces and moments; Free surface effects; LQR control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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