LQG/LTR Control of an Autonomous Underwater Vehicle Using a Hybrid Guidance Law
نویسندگان
چکیده
This paper addresses the issue of guidance and control of an autonomous underwater vehicle (AUV) for a cable tracking problem. A linear quadratic Gaussian controller with loop transfer recovery (LQG/LTR) is developed because of its strong robustness properties. The vehicle is guided towards the target using a combination of different guidance algorithms. The vehicle speed is used to formulate the guidance problem. Simulation results are presented and a comparison is made between fix and variable AUV speeds. Copyright © 2003 IFAC
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