Input/output variable structure position control of a remotely operated underwater vehicle

Author

Da Cunha, José P V S ; Costa, Ramon R. ; Hsu, Liu

Author_Institution

Dept. of Electr. Eng., Univ. Federal de Rio de Janeiro, Brazil

fYear

1991

fDate

19-22 June 1991

Firstpage

1305

Abstract

An adaptive control system for a remotely operated underwater vehicle (ROV) is proposed. The controller is based on a recently developed variable structure model-reference adaptive control (VS-MRAC) design which is particularly advantageous since only input/output (I/O) measurements are needed and the controller design does not require exact knowledge of the ROV parameters. This paper also presents a method for implementing the I/O VS-MRAC as a digital computer algorithm. Simulations carried out with a realistic dynamic model of an actual ROV have shown that this control scheme yields accurate tracking even in the presence of disturbances and measurement noise.<>

Keywords

adaptive control; marine systems; model reference adaptive control systems; position control; telecontrol; variable structure systems; I/O variable structure control; ROV; VS-MRAC; dynamic model; remotely operated underwater vehicle; telecontrol; variable structure model-reference adaptive control; Adaptive control; Automatic control; Control systems; Manipulator dynamics; Position control; Propellers; Remotely operated vehicles; Sliding mode control; Torque; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240374

Filename

240374