Design of a high performance variable structure position control of ROVs

An adaptive control scheme for dynamic positioning (DP) of remotely operated underwater vehicles (ROV) is proposed based on a recently developed output feedback variable structure control (VSC) algorithm named VS-MRAC. Only position measurement is required. Precise modeling of the ROV is not needed...

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Bibliographic Details
Published inIEEE journal of oceanic engineering Vol. 20; no. 1; pp. 42 - 55
Main Authors da Cunha, J.P.V.S., Costa, R.R., Liu Hsu
Format Journal Article
LanguageEnglish
Published IEEE 01.01.1995
Subjects
Adaptive control
Automotive electronics
Control systems
Marine
Nonlinear control systems
Position control
Remotely operated vehicles
Sea measurements
Sliding mode control
Testing
Vehicle dynamics
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ISSN0364-9059
DOI10.1109/48.380247

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Summary:An adaptive control scheme for dynamic positioning (DP) of remotely operated underwater vehicles (ROV) is proposed based on a recently developed output feedback variable structure control (VSC) algorithm named VS-MRAC. Only position measurement is required. Precise modeling of the ROV is not needed and unmodeled perturbations can be effectively rejected. A simple method for discretizing the original continuous-time VS-MRAC is proposed based on dead-beat response. Other important practical implementation issues are considered. The performance is evaluated by simulation with a realistic ROV model and by full-scale experimental pool tests with an actual ROV.< >
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ISSN:0364-9059
DOI:10.1109/48.380247