Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance
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...
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my.utem.eprints.145512015-06-12T07:57:43Z http://eprints.utem.edu.my/id/eprint/14551/ Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance Mohd Aras, Mohd Shahrieel Abdullah, Shahrum Shah Kamarudin, Muhammad Nizam Abdul Rahman, Ahmad Fadzli Nizam Abdul Azis, Fadilah Jaafar, Hazriq Izzuan TC Hydraulic engineering. Ocean engineering 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. AIP Publishing 2015-05-21 Article PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/14551/1/1.4915769.pdf 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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TC Hydraulic engineering. Ocean engineering Mohd Aras, Mohd Shahrieel Abdullah, Shahrum Shah Kamarudin, Muhammad Nizam Abdul Rahman, Ahmad Fadzli Nizam Abdul Azis, Fadilah Jaafar, Hazriq Izzuan Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance |
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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. |
format |
Article |
author |
Mohd Aras, Mohd Shahrieel Abdullah, Shahrum Shah Kamarudin, Muhammad Nizam Abdul Rahman, Ahmad Fadzli Nizam Abdul Azis, Fadilah Jaafar, Hazriq Izzuan |
author_facet |
Mohd Aras, Mohd Shahrieel Abdullah, Shahrum Shah Kamarudin, Muhammad Nizam Abdul Rahman, Ahmad Fadzli Nizam Abdul Azis, Fadilah Jaafar, Hazriq Izzuan |
author_sort |
Mohd Aras, Mohd Shahrieel |
title |
Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance |
title_short |
Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance |
title_full |
Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance |
title_fullStr |
Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance |
title_full_unstemmed |
Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance |
title_sort |
observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance |
publisher |
AIP Publishing |
publishDate |
2015 |
url |
http://eprints.utem.edu.my/id/eprint/14551/1/1.4915769.pdf http://eprints.utem.edu.my/id/eprint/14551/ |
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1665905596487958528 |
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13.160551 |