In this paper we present a six-DOF output-feedback control system for high-speed maneuvering of an underwater vehicle with position and angle measurements only. The observer is designed and analyzed using a passivity-based control method. The main idea of this strategy, which has been commonly applied in electronics and robot applications, is to construct the closed loop system according to a desired energy function, and in addition add damping to assure asymptotic stability. Furthermore, by using backstepping technique in the controller design, simple solutions to the output-feedback control problem has been shown to exist. The case study is the Minesniper MkII, a low cost, torpedo shaped ROV developed by Kongsberg ASA. Simulations show that the control system is robust to external disturbances and measurement noise and provides satisfactory tracking results.
Design of output-feedback control system for high speed maneuvering of an underwater vehicle
Oceans, Oceans MTS/IEEE, 2005 ; 1167-1174
2005
8 Seiten, 15 Quellen
Aufsatz (Konferenz)
Englisch
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