Underwater vehicles operate in dynamical environments where sudden changes of the working conditions occur from time to time. The need for an effective control action calls for refined techniques with a high degree of robustness with respect to large parametric variations and/or uncertainties. Supervised switching control gives the theoretical framework where appropriate control strategies can be developed. Both the switching algorithms proposed here are based on a multiple models approach to describe the different operating conditions.

Switching Based Supervisory Control of Underwater Vehicles / Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro. - (2006), pp. 105-125. [10.1049/PBCE069E_ch6]

Switching Based Supervisory Control of Underwater Vehicles

IPPOLITI, Gianluca;IETTO, LEOPOLDO;LONGHI, SAURO
2006-01-01

Abstract

Underwater vehicles operate in dynamical environments where sudden changes of the working conditions occur from time to time. The need for an effective control action calls for refined techniques with a high degree of robustness with respect to large parametric variations and/or uncertainties. Supervised switching control gives the theoretical framework where appropriate control strategies can be developed. Both the switching algorithms proposed here are based on a multiple models approach to describe the different operating conditions.
2006
Advances in Unmanned Marine Vehicles. IEE Control Engineering Series 69
9780863414503
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/38741
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