The heave and pitch control of a non-linear longitudinal model of a ROV (Remotely Operated Vehicle) is described using three robust non-linear control techniques. The techniques are based on I/O (Input-Output) linearization, comprising basic I/O linearization control, I/O linearization with SMC (Sliding Mode Control) and I/O linearization with AFC (Adaptive Fuzzy Control). Robustness of the designs is investigated by examining the closed-loop zero dynamics, which are shown to be bounded. The robustness of each control scheme is also investigated by varying the ROV hydrodynamic coefficients by 50 %. Simulation results are presented to compare the control schemes. The performance robustness of I/O AFC is comparable to that of the I/O SMC and even better at forward speed variation. Therefore, future work will investigate the possibility of combining the two techniques in an attempt to design a highly robust hybrid controller. Such a control structure would add intelligence to conventional non-linear control laws and would be a potential candidate for control system design for future autonomous underwater vehicles. One method for selection of the control parameter would to set up performance metrics that could be used in a multi-objective optimization process. Such metrics would include: closeness to the time response generated by the trajectory generator, maximum value of the pitching excursion, saturation time variations in speed, and robustness to variation in hydrodynamic parameters.
Non-linear robust control designs for a remotely operated underwater vehicle depth control system
Nichtlineare robuste Regelung des Tauchgangs bei einem ferngesteuerten Unterwasserfahrzeug
1996
14 Seiten, 11 Bilder, 34 Quellen
Aufsatz (Zeitschrift)
Englisch
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