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.File in questo prodotto:
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