Mohd. Aras, Mohd. Shahrieel and Abdullah, Shahrum Shah and Kamarudin, Muhammad Nizam and Abdul Rahman, Ahmad Fadzli Nizam and Abd. Azis, Fadilah and Jaafar, Hazriq Izzuan (2015) Observer Based Output Feedback Tuning for Underwater Remotely Operated Vehicle Based on Linear Quadratic Performance. In: International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014, 28-30 May 2014, Penang Island, Malaysia.
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Official URL: http://dx.doi.org/10.1063/1.4915769
Abstract
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.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | linear quadratic regulation, observer-based output feedback, remotely operated vehicle |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Malaysia-Japan International Institute of Technology |
| ID Code: | 59398 |
| Deposited By: | Haliza Zainal |
| Deposited On: | 18 Jan 2017 01:50 |
| Last Modified: | 11 Oct 2021 01:40 |
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