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 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. 

scholarly journals Two Inverse Problems Solution by Feedback Tracking Control

Axioms ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 137
Author(s):  
Vladimir Turetsky
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Feedback Linearization ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Linear Quadratic Tracking ◽  
Ill Posed ◽  
Quadratic Optimal Control ◽  
Quadratic Tracking

Two inverse ill-posed problems are considered. The first problem is an input restoration of a linear system. The second one is a restoration of time-dependent coefficients of a linear ordinary differential equation. Both problems are reformulated as auxiliary optimal control problems with regularizing cost functional. For the coefficients restoration problem, two control models are proposed. In the first model, the control coefficients are approximated by the output and the estimates of its derivatives. This model yields an approximating linear-quadratic optimal control problem having a known explicit solution. The derivatives are also obtained as auxiliary linear-quadratic tracking controls. The second control model is accurate and leads to a bilinear-quadratic optimal control problem. The latter is tackled in two ways: by an iterative procedure and by a feedback linearization. Simulation results show that a bilinear model provides more accurate coefficients estimates.

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 An Autonomous Underwater Vehicle Simulation Using Linear Quadratic Servo Based on Open Control Platform

2012 ◽  
Vol 2012 ◽  
pp. 1-4 ◽  
Author(s):  
Nanang Syahroni ◽  
Jae Weon Choi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Linear Quadratic ◽  
New Approach ◽  
Decentralized System ◽  
Vehicle Simulation ◽  
Depth Control ◽  
Open Control ◽  
Simulation Results ◽  
Optimal Regulator

This paper presents an optimal regulator for depth control simulation of an autonomous underwater vehicle (AUV) using a new approach of decentralized system environment called open control platform (OCP). Simulation results are presented to demonstrate performance of the proposed method.

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