کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
699853 1460707 2015 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Output feedback motion control system for observation class ROVs based on a high-gain state observer: Theoretical and experimental results
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Output feedback motion control system for observation class ROVs based on a high-gain state observer: Theoretical and experimental results
چکیده انگلیسی

This paper proposes a motion control system for observation class ROVs. It is essentially an output feedback control system composed of a MIMO PID controller, which is aided by reference feedforward, and a high-gain observer. Feedback linearisation of the plant dynamics is also performed. Four degrees-of-freedom are controlled (surge, sway, heave, and yaw). Stability and satisfactory performance are attained under suitable and smooth reference trajectories, despite the presence of unmodelled plant dynamics, plant parameter variations, measurement errors and noise, and environmental disturbances. Results from full-scale sea trials based on NTNU׳s ROV Minerva are presented and discussed.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 39, June 2015, Pages 90–102
نویسندگان
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