NISCAIR Online Periodicals Repository

Research Journals >
Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.38 [2009] >
IJMS Vol.38(3) [September 2009] >

Title: Coefficient diagram method for the control of an unmanned underwater vehicle
Authors: Budiyono, Agus
Kartidjo, Muljowidodo
Sugama, Agus
Keywords: Unmanned Underwater Vehicle
Coefficient Diagram Method
Underwater Robotics
Issue Date: Sep-2009
Publisher: CSIR
Abstract:  The operational demand for unmanned underwater vehicles has been growing rapidly in the recent past. For long range operations, such as oceanographic exploration and surveying, autonomous underwater vehicles (AUVs) which are equipped with on-board power and advanced control and navigation, have more promises to carry out tasks with the minimum operator intervention. Unlike other fixed platforms, autonomous underwater vehicles are particularly of interest due to their ability to provide continuous spatial and temporal observations. The safe operation of AUV relies on its autonomous navigation and control system. The paper is concerned with the synthesis of control system for an autonomous underwater vehicle using a coefficient diagram method. CDM is an algebraic approach applied to polynomial loop in the parameter space, where the so-called coefficient diagram is used as the means to convey the necessary design information and as the criteria of good design. The effectiveness of the control technique is demonstrated through a number of automatic control designs for motions in the longitudinal mode of AUV Squid, an autonomous underwater robotic designed and developed at Institut Teknologi Bandung.
Page(s): 316-323
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Source:IJMS Vol.38(3) [September 2009]

Files in This Item:

File Description SizeFormat
IJMS 38(3) 316-323.pdf539.12 kBAdobe PDFView/Open
 Current Page Visits: 125 
Recommend this item


Online Submission of Articles |  NISCAIR Website |  National Knowledge Resources Consortium |  Contact us |  Feedback

Disclaimer: NISCAIR assumes no responsibility for the statements and opinions advanced by contributors. The editorial staff in its work of examining papers received for publication is helped, in an honorary capacity, by many distinguished engineers and scientists.

CC License Except where otherwise noted, the Articles on this site are licensed under Creative Commons License: CC Attribution-Noncommercial-No Derivative Works 2.5 India

Copyright © 2015 The Council of Scientific and Industrial Research, New Delhi. All rights reserved.

Powered by DSpace Copyright © 2002-2007 MIT and Hewlett-Packard | Compliant to OAI-PMH V 2.0

Home Page Total Visits: 172018 since 01-Sep-2015  Last updated on 30-Jun-2016Webmaster: