In this paper, an input-output linearisation controller with an adaptive fuzzy outer loop is applied to the depth control of a nonlinear remotely operated vehicle (ROV). The adaptive fuzzy system is added to increase the robustness as well as add 'intelligence' to conventional input-output controllers. The free control parameters are selected using multi-objective fuzzy genetic algorithm optimisation. Simulation results are presented wich demonstrate that the proposed control scheme can enhance the closed-loop system performance by reducing the output tracking errors.
A robust nonlinear control design for remotely operated vehicle depth control systems
Transactions of the Institute of Measurement and Control ; 19 , 3 ; 119-125
1997
7 Seiten, 4 Bilder, 15 Quellen
Aufsatz (Zeitschrift)
Englisch
Remotely operated vehicle depth control
Tema Archiv | 2003
|A study of robust multivariable control designs for remotely operated vehicle depth control systems
British Library Conference Proceedings | 1997
|DESIGN AND DEVELOPMENT OF AUTO DEPTH CONTROL OF REMOTELY OPERATED VEHICLE USING THRUSTER SYSTEM
DOAJ | 2014
|