scholarly journals Yaw Angle Tracking Control Design of Underactuated AUV By Using State Dependent Riccati Equations (SDRE)-LQT

2019 ◽  
Vol 3 (2) ◽  
pp. 325
Author(s):  
Muhammad Basri Hasan
Keyword(s):  
Tracking Control ◽  
Control Design ◽  
Riccati Equations ◽  
The State ◽  
Linear Quadratic ◽  
State Dependent ◽  
Linear Quadratic Tracking ◽  
Quadratic Tracking ◽  
Yaw Angle ◽  
Angle Tracking

In realizing yaw angle control tracking on AUV, the use of the State Dependent Riccati Equations method based on Linear Quadratic Tracking (SDRE-LQT) is realized. This algorithm calculates changes in yaw angle tracking problems through calculation of parameter changes from online AUV with Algebraic Riccati Equations.So that the control signal given to the plant can follow the changing conditions of the plant itself. 

Desain Kontrol Tracking Sudut Yaw Pada AUV Menggunakan State Dependent Riccati Equations (SDRE)-LQT

2019 ◽  
Vol 5 (2) ◽  
pp. 187-195
Author(s):  
Muhammad Hasan Basri
Keyword(s):  
Steady State ◽  
Autonomous Underwater Vehicle ◽  
Riccati Equations ◽  
Underwater Vehicle ◽  
Linear Quadratic ◽  
Algebraic Riccati Equations ◽  
State Dependent ◽  
Linear Quadratic Tracking ◽  
Quadratic Tracking

Dalam merealisasikan permasalahan control tracking sudut yaw pada AUV, penggunaan metode State Dependent Riccati Equations berdasarkan Linear Quadratic Tracking (SDRE-LQT) direalisasikan. Algoritma ini menghitung perubahan permasalahan tracking sudut yaw melalui perhitungan perubahan parameter dari Autonomous Underwater Vehicle (AUV) secara online dengan Algebraic Riccati Equations. Sehingga sinyal kontrol yang diberikan ke plant dapat mengikuti perubahan kondisi dari plant itu sendiri. Metode control SDRE-LQT bekerja dengan cukup baik ketika ada  faktor non linearitas dari sistem, yaitu pengaruh  dari  sudut  roll dan sudut pitch yang mempengaruhi state sudut yaw, yang menyebabkan timbulnya overshoot dan undershoot, dimana kontroler SDRE-LQT mampu mengendalikan sudut yaw AUV sesuai dengan perubahan sinyal referensi yang diberikan dengan error steady state kecil, yaitu e = -0.01282 %.

scholarly journals Linear-Quadratic Tracking Control of a Commercial Vehicle Air Brake System

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 149741-149750
Author(s):  
Dawei Hu ◽  
Gangyan Li ◽  
Guoming Zhu ◽  
Zihao Liu ◽  
Ming Tu
Keyword(s):  
Tracking Control ◽  
Commercial Vehicle ◽  
Brake System ◽  
Linear Quadratic ◽  
Linear Quadratic Tracking ◽  
Air Brake System ◽  
Linear Quadratic Tracking Control ◽  
Quadratic Tracking

scholarly journals Deterministic Kalman Filtering on Semi-Infinite Interval

2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
L. Faybusovich ◽  
T. Mouktonglang
Keyword(s):  
Kalman Filter ◽  
Kalman Filtering ◽  
Tracking Control ◽  
Control Model ◽  
Infinite Interval ◽  
Initial Condition ◽  
Linear Quadratic ◽  
Linear Quadratic Tracking ◽  
Linear Quadratic Tracking Control ◽  
Quadratic Tracking

We relate a deterministic Kalman filter on semi-infinite interval to linear-quadratic tracking control model with unfixed initial condition.

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