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Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance

Mohd Aras, Mohd Shahrieel and Abdullah, Shahrum Shah and Kamarudin, Muhammad Nizam and Abdul Rahman, Ahmad Fadzli Nizam and Abdul Azis, Fadilah and Jaafar, Hazriq Izzuan (2015) Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance. AIP Conference Proceedings. 070051-1. ISSN 0094-243X

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Abstract

This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater Technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.

Item Type: Article
Uncontrolled Keywords: observer-based output feedback, linear quadratic regulation, unmanned underwater vehicle, remotely operated vehicle
Subjects: T Technology > TC Hydraulic engineering. Ocean engineering
Divisions: Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User: Burairah Hussin
Date Deposited: 03 Jun 2015 06:25
Last Modified: 12 Jun 2015 07:57
URI: http://eprints.utem.edu.my/id/eprint/14551

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