Title :
Robust adaptive motion control for Remotely Operated Vehicles with velocity constraints
Author :
Ding, Nan ; Li, Zhijun ; Yang, Chenguang ; Ge, Tong
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
In this paper, robust adaptive control strategies are designed for Remotely Operated Vehicles (ROVs) with velocity constraints in the presence of uncertainties and disturbances. First, robust control strategies are investigated for ROVs, and then adaptive robust control strategies are further presented with online parameter estimation. To prevent the velocity constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the velocity constraints are not transgressed. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results for 5-DOF ROV demonstrate the effectiveness of the proposed approach.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; motion control; remotely operated vehicles; robust control; velocity control; BLF; Lyapunov synthesis; ROV; barrier Lyapunov function; closed-loop signals; online parameter estimation; remotely operated vehicles; robust adaptive motion control; robust control strategies; velocity constraint violation; velocity constraints; Earth; Lyapunov method; Marine vehicles; Robust control; Symmetric matrices; Vehicle dynamics; Vehicles;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723451
