Title :
A robust nonlinear control design for remotely operated vehicle depth control systems
Author :
Trebi-Ollennu, A. ; White, B.A.
Author_Institution :
Cranfield Univ. (RMCS), UK
Abstract :
In this paper, an input-output linearization controller with an adaptive fuzzy outer loop is applied to the depth control of a nonlinear remotely operated vehicle (ROV). The adaptive fuzzy system is added to increase the robustness as well as add "intelligence" to conventional input-output controllers. The free control parameters are selected using multi-objective fuzzy genetic algorithm optimization. Simulation results are presented which demonstrate that the proposed control scheme can enhance the closed-loop system performance by reducing the output tracking errors.
Keywords :
closed loop systems; control system synthesis; fuzzy control; fuzzy systems; genetic algorithms; linearisation techniques; marine systems; mobile robots; position control; robust control; adaptive fuzzy outer loop; closed-loop system performance; input-output linearization controller; multi-objective fuzzy genetic algorithm optimization; output tracking errors; remotely operated vehicle depth control systems; robust nonlinear control design; robustness;
Conference_Titel :
Control '96, UKACC International Conference on (Conf. Publ. No. 427)
Print_ISBN :
0-85296-668-7
DOI :
10.1049/cp:19960688