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Design of a high performance variable structure position control of ROVs

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3 Author(s)
da Cunha, J.P.V.S. ; Centro Federal de Educacao Tecnologica, Rio de Janeiro, Brazil ; Costa, R.R. ; Liu Hsu

An adaptive control scheme for dynamic positioning (DP) of remotely operated underwater vehicles (ROV) is proposed based on a recently developed output feedback variable structure control (VSC) algorithm named VS-MRAC. Only position measurement is required. Precise modeling of the ROV is not needed and unmodeled perturbations can be effectively rejected. A simple method for discretizing the original continuous-time VS-MRAC is proposed based on dead-beat response. Other important practical implementation issues are considered. The performance is evaluated by simulation with a realistic ROV model and by full-scale experimental pool tests with an actual ROV

Published in:

Oceanic Engineering, IEEE Journal of  (Volume:20 ,  Issue: 1 )