Numerical simulation of an automatic depth controller for an underwater vehicle

  1. Garcia, J.
  2. Murillo, J.A. 1
  3. Nieto, I.A.
  4. Pardo, D.
  5. Periago, F. 1
  1. 1 Universidad Politécnica de Cartagena
    info

    Universidad Politécnica de Cartagena

    Cartagena, España

    ROR https://ror.org/02k5kx966

Revista:
Instrumentation ViewPoint

ISSN: 1886-4864

Año de publicación: 2008

Tipo: Artículo

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Otras publicaciones en: Instrumentation ViewPoint

Resumen

In this paper, we analyze two diff erent mathematical strategies for solvingthe problem which consists in controlling a depth change manoeuverabilityfor an specifi c type of submarine. Precisely, we will apply bothcontrollability theory and the more classical linear quadratic optimalcontrol theory to a simplifi ed linear model obtained from the generalnonlinear DTNSRDC equations of motion. Finally, numerical results willbe contrasted to show the advantages and handicaps of the proposedmodels. It is also important to emphasize that the results presented inthis work are only a fi rst step towards a better understanding of the problem.