Yaw Angle Tracking Control Design of Underactuated AUV By Using State Dependent Riccati Equations (SDRE)-LQT Desain Kontrol Pelacakan Sudut Yaw AUV Underactuated Dengan Menggunakan State Dependent Riccati Equations (SDRE)-LQT
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Published:
Oct 30, 2019
Keywords:
AUV, Tracking Control, SDRE-LQT
Main Article Content
Abstract
In realizing yaw angle control tracking on AUV, the use of the State Dependent Riccati Equations method based on Linear Quadratic Tracking (SDRE-LQT) is realized. This algorithm calculates changes in yaw angle tracking problems through calculation of parameter changes from online AUV with Algebraic Riccati Equations.So that the control signal given to the plant can follow the changing conditions of the plant itself.
Article Details
Section
Control System
Copyright (c) 2019 Muhammad Basri Hasan
This work is licensed under a Creative Commons Attribution 4.0 International License.
References
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[4] J, Yuh. (2000), "Design and Control of Autonomous Underwater Robots: A Survey", Autonomous Robots, Vol. 8, hal. 7 - 24 .
[5] Fossen, T. I. (2011), Hand bookof Marine Craft Hydrodynamic and Motion Control, 1st, John Wiley and Sons Ltd., Trond heim, Norway.
[6] J.Yuh(1994), "Learning Control for Underwater Robotic Vehicles", IEEE International Conference on Robotics and Automation, University of Hawaii, Honolulu.
[7] XinqianB, Ying Qu, ZhepingYan, Wei Zhang. (2010),"Nonlinear Feed backControl for Trajectory Tracking of an Unmanned Underwater Vehicle", Proceedings of 2010 IEEE International ConferenceonInformation and Automation, University of Harbin, Harbin.
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