Depth Control Simulation of Autonomous Underwater Vehicle with State Delay Based on Open Control Platform
Nanang Syahroni, Young Bong Seo, Jae Weon Choi · 제어로봇시스템학회 국내학술대회 논문집 · 2008
This paper presents depth control simulation of autonomous underwater vehicle (AUV) using a new approach of decentralized system environment called Open control Platform(OCP). We discuss briefly various time delay phenomena of the actuator model, network latency, and computing time process, those are approximated using time delay approximation reflected to the system design infrastructure. The proposed structure is composed of optimal regulator equation with state delay obtained by taking the original problem to the linear quadratic (LQ) servo design and a delay compensation, which modifies the delay in the input (generated by the human operator) and output. Numerical methods for delay differential equation (DDE) are direct analogies of the classical numerical method of ordinary differential equation (ODE), and it sill be compare with proposed method. Simulation results are presented, demonstrating performance of both the traditional method and new method based on OCP