Lyapunov-Based Switching Control for a Remotely Operated Vehicle

Author

Cavalletti, M. ; Ippoliti, G. ; Longhi, S.

Author_Institution

Dipt. di Ingegneria Informatica, Gestionale e dell´´Automazione, Universita Politecnica delle Marche, Ancona

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

This paper considers the tracking control problem of an underwater vehicle subjected to different load configurations, which from time to time introduce considerable variations of its mass and inertial parameters. The control of this kind of mode-switch process cannot be adequately faced with traditional adaptive control techniques because of the too long time needed for adaptation. To cope with this problem, a switching control scheme is proposed and the stability of this multi-controller system is analyzed using the Lyapunov theory. The performance of the switched controller is evaluated by numerical simulations

Keywords

Lyapunov methods; mobile robots; multivariable control systems; neurocontrollers; nonlinear control systems; remotely operated vehicles; stability; time-varying systems; underwater vehicles; Lyapunov-based switching control; multicontroller system; neural networks; nonlinear systems; numerical simulation; remotely operated vehicle; stability; switching supervisory control; tracking control; underwater vehicle; Adaptive control; Control systems; Neural networks; Nonlinear systems; Numerical simulation; Radial basis function networks; Remotely operated vehicles; Underwater tracking; Underwater vehicles; Weight control; Neural networks; Nonlinear systems; Remotely operated vehicles; Switching supervisory control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345365

Filename

4150349