Title :
A MIMO nonlinear robust controller for work-class ROVs positioning and trajectory tracking control
Author :
Zhu, Kangwu ; Gu, Linyi
Author_Institution :
State Key Lab. of Fluid Power Transm. & Control, Zhejiang Univ., Hangzhou, China
Abstract :
In this paper, for the positioning and trajectory tracking control of work-class ROVs with parameter uncertainties and unknown disturbances, a systematically MIMO nonlinear robust controller design method based on adaptive backstepping technique and sliding control is introduced. By Lyapunov stability design method, the locally asymptotically stability of closed-loop control system has been proved. The effectiveness of controller has been demonstrated by simulation studies. The simulation results on a work-class ROV proved that the proposed control method has good control performance, and the controller is robust to parameter uncertainties and unknown disturbances.
Keywords :
Lyapunov methods; MIMO systems; asymptotic stability; closed loop systems; control system synthesis; mobile robots; nonlinear control systems; position control; remotely operated vehicles; robust control; telerobotics; underwater vehicles; Lyapunov stability design method; MIMO nonlinear robust controller; adaptive backstepping technique; asymptotic stability; closed-loop control system; controller design method; remotely operated underwater vehicle; sliding control; trajectory tracking control; work-class ROV positioning; Backstepping; MIMO; Robustness; Simulation; Trajectory; Uncertain systems; Backstepping; Nonlinear control; Sliding control; Underwater vehicles; Work-class ROV;
Conference_Titel :
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location :
Mianyang
Print_ISBN :
978-1-4244-8737-0
DOI :
10.1109/CCDC.2011.5968643
