Title :
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
fDate :
1/1/1995 12:00:00 AM
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;
Journal_Title :
Oceanic Engineering, IEEE Journal of
