Title :
Model-free high order sliding mode control for ROV: Station-keeping approach
Author :
García-Valdovinos, L.G. ; Salgado-Jiménez, T. ; Torres-Rodríguez, H.
Author_Institution :
Appl. Res. Div., Center for Eng. & Ind. Dev.-CIDESI, Queretaro, Mexico
Abstract :
A simple, and yet straightforward approach based on second order sliding mode control for underwater vehicles has been synthesized. The proposed scheme accomplishes station-keeping and position tracking without acceleration measurements, nor robot dynamics and parameters knowledge, under ocean currents in different directions. Exponential fast convergence of position and velocity, without overshooting, is ensured, for a small initial condition.
Keywords :
position control; remotely operated vehicles; tracking; underwater vehicles; variable structure systems; ROV; dynamic positioning; exponential fast convergence; high order sliding mode control; model free control; ocean currents; position tracking; remotely operated vehicles; station keeping approach; underwater vehicles; Remotely operated vehicles; Sliding mode control;
Conference_Titel :
OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges
Conference_Location :
Biloxi, MS
Print_ISBN :
978-1-4244-4960-6
Electronic_ISBN :
978-0-933957-38-1
