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Development of Linear Parameter Varying Control System for Autonomous Underwater Vehicle

H.Y Sutarto, Agus Budiyono

Abstract


Development and application of Linear Parameter Varying (LPV) control system for robust longitudinal AUV controller on ITB-Squid AUV are presented. LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. The LPV control design is applied to pitch-rate control of the AUV to fulfill the specification. This extended abstract will be focused on building the LFT model as representation of dynamic variations over a wide range of the operating conditions. The result shows that the second-order polynomial is needed to have a better approximation. Full analysis and discussion will be given in the final paper.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.502

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