DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, M. | - |
dc.contributor.author | Joe, Hangil | - |
dc.contributor.author | Yu, Son-Ceol | - |
dc.date.accessioned | 2017-07-19T14:00:14Z | - |
dc.date.available | 2017-07-19T14:00:14Z | - |
dc.date.created | 2017-03-16 | - |
dc.date.issued | 2016-03-03 | - |
dc.identifier.issn | 0013-5194 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/38032 | - |
dc.description.abstract | A dual-loop robust controller is proposed for precise position control of an autonomous underwater vehicle under uncertain hydrodynamics and unknown disturbances. In the inner-loop, a time-delay controller is presented in which a time-delay estimator estimates uncertain hydrodynamics and unknown disturbances from its time-delayed information and cancels these, thereby reducing control efforts on internal dynamics considerably. In the outer-loop, the linear controller stabilises the position error of the AUV without prior knowledge on values of hydrodynamic parameters. The proposed dual-loop controller features simple structure and easy implementation because it does not require real-time estimation of hydrodynamics. | - |
dc.language | English | - |
dc.publisher | INST ENGINEERING TECHNOLOGY-IET | - |
dc.relation.isPartOf | Electronics Letters | - |
dc.title | Dual-loop robust controller design for autonomous underwater vehicle under unknown environmental disturbances | - |
dc.type | Article | - |
dc.identifier.doi | 10.1049/EL.2015.3809 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | Electronics Letters, v.52, no.5, pp.350 - 352 | - |
dc.identifier.wosid | 000371516700009 | - |
dc.date.tcdate | 2018-03-23 | - |
dc.citation.endPage | 352 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 350 | - |
dc.citation.title | Electronics Letters | - |
dc.citation.volume | 52 | - |
dc.contributor.affiliatedAuthor | Yu, Son-Ceol | - |
dc.identifier.scopusid | 2-s2.0-84959321997 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.scptc | 0 | * |
dc.date.scptcdate | 2018-05-121 | * |
dc.type.docType | Article | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
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