A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control

被引：4
|
作者：
Dyda, A. A. [1 ]
Oskin, D. [2 ]
Longhi, S. [3 ]
Monteriu, A. [3 ]
机构：
[1] Admiral Nevelskoy Maritime State Univ, Vladivostok, Russia
[2] Far Eastern Fed Univ, Dept Informat Control Syst, Vladivostok, Russia
[3] Univ Politecn Marche, Dipartimento Ingn Informaz, Ancona, Italy
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 23期
关键词：
discontinuous control; nonlinear switching surface; sliding mode; remotely operated vehicle; AUTONOMOUS UNDERWATER VEHICLE; ADAPTIVE-CONTROL; TRACKING; DESIGN;
D O I：
10.1016/j.ifacol.2016.10.360
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All right reserved.
引用
收藏
页码：311 / 316
页数：6
相关论文
共 50 条
  • [1] Switching adaptive control for a remotely operated vehicle
    Cavalletti, Matteo
    Ippoliti, Gianluca
    Longhi, Sauro
    [J]. 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 4902 - 4909
  • [2] Upgrade of Control System for a Remotely Operated Vehicle
    Li, Wei
    Li, Nan
    Feng, Zhengping
    [J]. 2015 SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP), 2015, : 448 - 452
  • [3] Control System Design of Remotely Operated Vehicle
    Guan Zhiguang
    Zhang Dong
    Ma Renlong
    Jiang Ru
    Lin Mingxing
    [J]. 2018 15TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS (UR), 2018, : 857 - 862
  • [4] Lyapunov-based switching control for a remotely operated vehicle
    Cavalletti, M.
    Ippoliti, G.
    Longhi, S.
    [J]. 2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5, 2006, : 2016 - +
  • [5] Research and application of a control system for remotely operated vehicle
    Stale Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
    不详
    [J]. Jiqiren, 2008, 5 (398-403):
  • [6] A robust nonlinear control design for remotely operated vehicle depth control systems
    Trebi-Ollennu, A
    White, BA
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 1997, 19 (03) : 119 - 125
  • [7] Intelligent control for a remotely operated vehicle
    Cavalletti, M.
    Ippoliti, G.
    Longhi, S.
    [J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2009, 40 (11) : 1099 - 1114
  • [8] Remotely operated vehicle depth control
    Zanoli, SM
    Conte, G
    [J]. CONTROL ENGINEERING PRACTICE, 2003, 11 (04) : 453 - 459
  • [9] Review of the Control System for an Unmanned Underwater Remotely Operated Vehicle
    Abdullah, Ahmad Makarimi
    Zakaria, Nursyahida Izzati
    Abu Jalil, Khairul Arief
    Othman, Norhafizah
    Dahalan, Wardiah Mohd
    Hamid, Hisham
    Ghani, Muhamad Fadli
    Haidir, Ashman Yussof Iqmal bin Mohd
    Kamro, Mohd Iqram Mohd
    [J]. ENGINEERING APPLICATIONS FOR NEW MATERIALS AND TECHNOLOGIES, 2018, 85 : 609 - 631
  • [10] Lyapunov-based switching control using neural networks for a remotely operated vehicle
    Cavalletti, M.
    Ippoliti, G.
    Longhi, S.
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2007, 80 (07) : 1077 - 1091
12345