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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | da Cunha, J.P.V.S. Costa, R.R. Liu Hsu |
| Copyright Year | 1991 |
| Description | Author affiliation: Dept. of Electr. Eng., Univ. Federal de Rio de Janeiro, Brazil (da Cunha, J.P.V.S.; Costa, R.R.; Liu Hsu) |
| Abstract | An adaptive control system for a remotely operated underwater vehicle (ROV) is proposed. The controller is based on a recently developed variable structure model-reference adaptive control (VS-MRAC) design which is particularly advantageous since only input/output (I/O) measurements are needed and the controller design does not require exact knowledge of the ROV parameters. This paper also presents a method for implementing the I/O VS-MRAC as a digital computer algorithm. Simulations carried out with a realistic dynamic model of an actual ROV have shown that this control scheme yields accurate tracking even in the presence of disturbances and measurement noise.< |
| Starting Page | 1305 |
| Ending Page | 1310 |
| File Size | 587956 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780300785 |
| DOI | 10.1109/ICAR.1991.240374 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-19 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Position control Remotely operated vehicles Vehicle dynamics Propellers Automatic control Sliding mode control Adaptive control Control systems Manipulator dynamics Torque |
| Content Type | Text |
| Resource Type | Article |
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