Improved Dynamic Modeling and Robust Control of Autonomous Underwater Vehicles

Improved Dynamic Modeling and Robust Control of Autonomous Underwater Vehicles

In this dissertation, we seek to improve the dynamic modeling and control of autonomous underwater vehicles (AUVs). We address nonlinear hydrodynamic modeling, simplifying modeling assumptions, and robust control for AUVs. In the literature, various hydrodynamic models exist with varying model compl...

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Bibliographic Details
Main Author: Gibson, Scott Brian
Other Authors: Electrical Engineering
Format: Others
Published: Virginia Tech 2018
Subjects:
autonomous vehicles
dynamics
parameter estimation
H-infinity control
time-inhomogeneous Markov jump linear systems
Online Access:http://hdl.handle.net/10919/84468

Internet

http://hdl.handle.net/10919/84468

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