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.


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    Title :

    A robust nonlinear control design for remotely operated vehicle depth control systems


    Contributors:


    Publication date :

    1997


    Size :

    7 Seiten, 4 Bilder, 15 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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