Title :
Rejecting the disturbances due to the umbilical´s traction in ROV´s control
Author :
Conte, G. ; Serrani, A. ; Perdon, A.M.
Author_Institution :
Dipt. di Elettronica e Autom., Ancona Univ., Italy
fDate :
28 Sep-1 Oct 1998
Abstract :
Consider the problem of decoupling the effect of the umbilical´s traction from the position of a ROV by means of feedback. The problem is first studied with respect to a linearized model of the ROV. Geometric methods show that exact decoupling is not possible, while approximate decoupling can be achieved by means of high-gain feedbacks. The relations with an H∞ approach to the same problem are discussed and the effectiveness of the design methodology with respect to the nonlinear model is shown by means of simulations
Keywords :
H∞ control; feedback; nonlinear control systems; remotely operated vehicles; robot dynamics; underwater vehicles; H∞ approach; ROV; approximate decoupling; disturbance rejection; high-gain feedbacks; linearized model; nonlinear model; umbilical traction; Automatic control; Control theory; Design methodology; Force feedback; Marine vehicles; Navigation; Remotely operated vehicles; Underwater vehicles; Vehicle dynamics; Water resources;
Conference_Titel :
OCEANS '98 Conference Proceedings
Conference_Location :
Nice
Print_ISBN :
0-7803-5045-6
DOI :
10.1109/OCEANS.1998.726267
