This paper focuses on depth trajectory tracking control for a Remotely Operated Vehicle (ROV) with dead-zone nonlinearity and saturation nonlinearity of thruster; an adaptive sliding mode control method based on neural network is proposed. Through the analysis of dead-zone nonlinearity and saturation nonlinearity of thruster, the depth trajectory tracking control system model of a ROV which uses thruster control signals as system input has been established. According to the principle of sliding mode control, an adaptive sliding mode depth trajectory tracking controller is built by using three-layer feed-forward neural network for online identification of unknown items. The selection method and update laws of the control parameters are also given. The uniform ultimate boundedness of trajectory tracking error is analysed by Lyapunov theorem. Finally, the effectiveness of the proposed method is illustrated by simulations.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive Sliding Mode Control for Depth Trajectory Tracking of Remotely Operated Vehicle with Thruster Nonlinearity



    Erschienen in:

    Erscheinungsdatum :

    2017




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    55.86 Schiffsverkehr, Schifffahrt / 53.84 Ortungstechnik, Radartechnik / 42.89 Zoologie: Sonstiges / 55.54 Flugführung / 42.89 / 53.84 / 55.20 / 55.86 / 55.20 Straßenfahrzeugtechnik / 55.44 Schiffsführung / 55.54 / 55.44
    Lokalklassifikation TIB:    275/5680/7035



    Remotely operated vehicle depth control

    Zanoli, S.M. / Conte, G. | Tema Archiv | 2003


    DESIGN AND DEVELOPMENT OF AUTO DEPTH CONTROL OF REMOTELY OPERATED VEHICLE USING THRUSTER SYSTEM

    F.A. Ali / M.S.M. Aras / F.A. Azis et al. | DOAJ | 2014

    Freier Zugriff

    Seabotix Thruster Modeling for a Remotely Operated Vehicle (ROV)

    Ali, Ahmad Faris / Arshad, Mohd Rizal | Springer Verlag | 2019


    Offset vertical thruster equipped hydrodynamic submersible remotely operated vehicle

    STACKPOLE ERIC / HO COLIN | Europäisches Patentamt | 2018

    Freier Zugriff

    Seabotix Thruster Modeling for a Remotely Operated Vehicle (ROV)

    Ali, Ahmad Faris / Arshad, Mohd Rizal | TIBKAT | 2019