Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints

被引：52

作者：

Li, Zhijun ^{[1
]}

Yang, Chenguang ^{[3
]}

Ding, Nan ^{[1
]}

Bogdan, Stjepan ^{[4
]}

Ge, Tong ^{[2
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

[2] Shanghai Jiao Tong Univ, Sch Naval Architecture Ocean & Civil Engn, Shanghai 200240, Peoples R China

[3] Univ Plymouth, Sch Comp & Math, Plymouth PL4 8AA, Devon, England

[4] Univ Zagreb, Dept Control & Comp Engn Automat, Fac Elect Engn & Comp, Zagreb 41000, Croatia

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2012年 / 10卷 / 02期

基金：

中国国家自然科学基金; 对外科技合作项目（国际科技项目）;

关键词：

Barrier Lyapunov function; robut adaptive control; ROVs; velocity constraints; ROBOT;

D O I：

10.1007/s12555-012-0222-y

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, robust adaptive control strategies are designed for Underwater Remotely Operated Vehicles (ROVs) with velocity constraints. First, robust control strategies are investigated for under-water ROVs, and then adaptive robust control strategies are further developed with online parameter estimation. To prevent the velocity constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the velocity constraints are not transgressed. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results for 5 degree-of-freedom (DOF) underwater ROV demonstrate the effectiveness of the proposed approach.

引用

页码：421 / 429

页数：9

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