Gain-scheduled control of an underwater vehicle using quasi-LPV techniques

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, the longitudinal control problem of an underwater vehicle undergoing obstacle avoidance, with large velocity variation, is considered and a gain-scheduled design is presented as a solution. Vehicle dynamics are transformed into a quasi-linear parameter varying form first. Then, the longitudinal control is constructed in two layers. The outer loop plays the role of guidance offering desired velocity command, which is tracked by the inner loop of the control law. The linear parameter varying (LPV) methodology used in the inner loop design circumvents the use of difficult nonlinear control techniques, and cancels the effects of velocity dependent terms. Furthermore, a simplified implementation scheme employing switched LPV control is investigated. Nonlinear simulation demonstrates the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationProceedings of the ISOPE Ocean Mining Symposium
EditorsJ.S. Chung, S. Won Hong
Publication statusPublished - 2002
EventProceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium - Daejeon, Korea, Republic of
Duration: Nov 17 2002Nov 20 2002


OtherProceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium
Country/TerritoryKorea, Republic of

All Science Journal Classification (ASJC) codes

  • General Engineering


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