Title :
Sliding mode control of remotely operated vehicles for horizontal plane motions
Author :
Olgac, N. ; Platin, B.E. ; Chang, J.-M.
Author_Institution :
Dept. of Mech. Eng., Connecticut Univ., Storrs, CT, USA
fDate :
9/1/1991 12:00:00 AM
Abstract :
The dynamic equations of remotely operated vehicle (ROV) motions in deep water exhibit a highly nonlinear nature. Some of these nonlinearities are simplified for the ease of modelling and only motion in the horizontal plane is considered. A variable structure system (VSS)/sliding mode control (SMC) application is pursued as the control strategy. A variety of parametric selections are made to form this VSS/SMC strategy. An insight is provided into making these choices using a sliding stability argument. A set of digital simulation results are also presented to demonstrate the system behaviour in terms of the parameters of the SMC selected
Keywords :
marine systems; mobile robots; nonlinear control systems; stability; telecontrol; variable structure systems; deep water; horizontal plane motions; remotely operated vehicles; sliding mode control; sliding stability argument; variable structure system;
Journal_Title :
Control Theory and Applications, IEE Proceedings D
