Title :
Lyapunov-Based Switching Control for a Remotely Operated Vehicle
Author :
Cavalletti, M. ; Ippoliti, G. ; Longhi, S.
Author_Institution :
Dipt. di Ingegneria Informatica, Gestionale e dell´´Automazione, Universita Politecnica delle Marche, Ancona
Abstract :
This paper considers the tracking control problem of an underwater vehicle subjected to different load configurations, which from time to time introduce considerable variations of its mass and inertial parameters. The control of this kind of mode-switch process cannot be adequately faced with traditional adaptive control techniques because of the too long time needed for adaptation. To cope with this problem, a switching control scheme is proposed and the stability of this multi-controller system is analyzed using the Lyapunov theory. The performance of the switched controller is evaluated by numerical simulations
Keywords :
Lyapunov methods; mobile robots; multivariable control systems; neurocontrollers; nonlinear control systems; remotely operated vehicles; stability; time-varying systems; underwater vehicles; Lyapunov-based switching control; multicontroller system; neural networks; nonlinear systems; numerical simulation; remotely operated vehicle; stability; switching supervisory control; tracking control; underwater vehicle; Adaptive control; Control systems; Neural networks; Nonlinear systems; Numerical simulation; Radial basis function networks; Remotely operated vehicles; Underwater tracking; Underwater vehicles; Weight control; Neural networks; Nonlinear systems; Remotely operated vehicles; Switching supervisory control;
Conference_Titel :
Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on
Conference_Location :
Singapore
Print_ISBN :
1-4244-0341-3
Electronic_ISBN :
1-4214-042-1
DOI :
10.1109/ICARCV.2006.345365
