In this note a control law dealing with actuator nonlinearities is applied to the position and orientation control of a Remotely Operated Vehicle (ROV) employed by the italian company Snamprogetti. The proposed control law is based on sliding mode control and guarantees robustness with respect to uncertainties present both in the ROV model and in the nonlinearity considered. in order to test the effectiveness of the proposed control law, simulation tests are being performed.

Robust control of an underwater ROV in the presence of nonsmooth nonlinearities in the actuators

CORRADINI, Maria Letizia;
2004-01-01

Abstract

In this note a control law dealing with actuator nonlinearities is applied to the position and orientation control of a Remotely Operated Vehicle (ROV) employed by the italian company Snamprogetti. The proposed control law is based on sliding mode control and guarantees robustness with respect to uncertainties present both in the ROV model and in the nonlinearity considered. in order to test the effectiveness of the proposed control law, simulation tests are being performed.
2004
0080441696
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11581/114104
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? ND
social impact