Design of a high performance variable structure position control of ROVs

Author

da Cunha, José Paulo V S ; Costa, Ramon R. ; Hsu, Liu

Author_Institution

Centro Federal de Educacao Tecnologica, Rio de Janeiro, Brazil

Volume

20

Issue

1

fYear

1995

fDate

1/1/1995 12:00:00 AM

Firstpage

42

Lastpage

55

Abstract

An adaptive control scheme for dynamic positioning (DP) of remotely operated underwater vehicles (ROV) is proposed based on a recently developed output feedback variable structure control (VSC) algorithm named VS-MRAC. Only position measurement is required. Precise modeling of the ROV is not needed and unmodeled perturbations can be effectively rejected. A simple method for discretizing the original continuous-time VS-MRAC is proposed based on dead-beat response. Other important practical implementation issues are considered. The performance is evaluated by simulation with a realistic ROV model and by full-scale experimental pool tests with an actual ROV

Keywords

control system synthesis; digital simulation; discrete time systems; marine systems; model reference adaptive control systems; position control; position measurement; telecontrol; variable structure systems; continuous-time VS-MRAC; dead-beat response; discretizing; high performance variable structure; modeling; output feedback variable structure control algorithm; perturbations; position control; remotely operated underwater vehicles; simulation; Adaptive control; Automotive electronics; Control systems; Nonlinear control systems; Position control; Remotely operated vehicles; Sea measurements; Sliding mode control; Testing; Vehicle dynamics;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.380247

Filename

380247