Robust Feed-forward Schemes for Pitch Angle Control of Unmanned

This paper presents investigations into the development of robust feed-forwards control schemes for pitch angle control of an unmanned underwater vehicle system. A linear model of unmanned underwater vehicle system is consider and the dynamic of the system is derived using the Newton-Euler formulati...

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Main Author:	Muhammad Salihin, Saealal
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/4222/ http://umpir.ump.edu.my/id/eprint/4222/1/scan0001.pdf

id	ump-4222
recordtype	eprints
spelling	ump-42222018-05-18T06:36:49Z http://umpir.ump.edu.my/id/eprint/4222/ Robust Feed-forward Schemes for Pitch Angle Control of Unmanned Muhammad Salihin, Saealal TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of robust feed-forwards control schemes for pitch angle control of an unmanned underwater vehicle system. A linear model of unmanned underwater vehicle system is consider and the dynamic of the system is derived using the Newton-Euler formulation. An unshaped bang-bang force input is used to determine the characteristic parameters of the system for design and evaluation of the feed-forward control techniques. Feed-forwards control schemes based on input shaping and filtering techniques are to be examined. The proposed techniques are designed based on the properties of the system for pitch angle control. Simulation result of the response of unmanned underwater vehicle system to the shaped input are presented in time and frequency domains. Performance of the control schemes are examined in terms of pitch angle reduction and time response specifications. Moreover, the robustness of the feed-forward control schemes is discussed. Finally, a comparative assessment of the proposed control techniques is presented and discussed. 2010-11-01 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/4222/1/scan0001.pdf Muhammad Salihin, Saealal (2010) Robust Feed-forward Schemes for Pitch Angle Control of Unmanned. In: International Conference on Underwater System Technology: Theory and Applications 2010 (USYS' 10), 1-2 November 2010 , Cyberjaya, Malaysia. pp. 1-10..
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Muhammad Salihin, Saealal Robust Feed-forward Schemes for Pitch Angle Control of Unmanned
description	This paper presents investigations into the development of robust feed-forwards control schemes for pitch angle control of an unmanned underwater vehicle system. A linear model of unmanned underwater vehicle system is consider and the dynamic of the system is derived using the Newton-Euler formulation. An unshaped bang-bang force input is used to determine the characteristic parameters of the system for design and evaluation of the feed-forward control techniques. Feed-forwards control schemes based on input shaping and filtering techniques are to be examined. The proposed techniques are designed based on the properties of the system for pitch angle control. Simulation result of the response of unmanned underwater vehicle system to the shaped input are presented in time and frequency domains. Performance of the control schemes are examined in terms of pitch angle reduction and time response specifications. Moreover, the robustness of the feed-forward control schemes is discussed. Finally, a comparative assessment of the proposed control techniques is presented and discussed.
format	Conference or Workshop Item
author	Muhammad Salihin, Saealal
author_facet	Muhammad Salihin, Saealal
author_sort	Muhammad Salihin, Saealal
title	Robust Feed-forward Schemes for Pitch Angle Control of Unmanned
title_short	Robust Feed-forward Schemes for Pitch Angle Control of Unmanned
title_full	Robust Feed-forward Schemes for Pitch Angle Control of Unmanned
title_fullStr	Robust Feed-forward Schemes for Pitch Angle Control of Unmanned
title_full_unstemmed	Robust Feed-forward Schemes for Pitch Angle Control of Unmanned
title_sort	robust feed-forward schemes for pitch angle control of unmanned
publishDate	2010
url	http://umpir.ump.edu.my/id/eprint/4222/ http://umpir.ump.edu.my/id/eprint/4222/1/scan0001.pdf
first_indexed	2023-09-18T21:58:41Z
last_indexed	2023-09-18T21:58:41Z
_version_	1777414251770544128

Robust Feed-forward Schemes for Pitch Angle Control of Unmanned

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