Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5002044 | IFAC-PapersOnLine | 2016 | 6 Pages |
Abstract
:The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived approach is proven by applying it for controlling a remotely operated vehicle with parameters from a real ROV. Simulation results show the effectiveness of the proposed approach.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
A.A. Dyda, D. Oskin, S. Longhi, A. Monteriù,