Depth control of an underwater vehicle using linear parameter-varying techniques

R. Gao, E. Kondo, H. Kajiwara, W. Koterayama, M. Nakamura

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


The applicability of employing a linear parameter-varying (LPV) control to an underwater vehicle is investigated and compared to that of using a linear time-invariant robust control. The underwater vehicle is first modeled into a polytopic-type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performances such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. A parameter-dependent weight is investigated in the LPV synthesis. It is shown that the designed controller performs well over the entire operating range by computer simulation.

Original languageEnglish
Pages (from-to)52-59
Number of pages8
JournalInternational Journal of Offshore and Polar Engineering
Issue number1
Publication statusPublished - Mar 2003

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Ocean Engineering
  • Mechanical Engineering


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