Abstract
This paper describes the heave and pitch control of a non-linear longitudinal model of a remotely operated vehicle (ROV) using three robust non-linear control techniques. The techniques are based on input-output (I/O) linearization, comprising basic I/O linearization control, I/O linearization with sliding mode control and I/O linearization with adaptive fuzzy systems. 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 per cent. Simulation results are presented to compare the control schemes.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.