期刊
OCEAN ENGINEERING
卷 111, 期 -, 页码 508-523出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2015.08.061
关键词
Control system; Remotely operated underwater vehicles; Adaptive; Sliding mode; Guidance; Falcon ROV
资金
- Natural Sciences and Engineering Research Council of Canada (NSERC) Engage Grant [EGP 399741-10]
This work addresses the design, implementation and testing of a new precision guidance and control system for an inspection class remotely operated underwater vehicle (ROV). A new multi-input multi-output control law, composed of a model-based equivalent control signal and two adaptive signals, is presented. In the controller, the first adaptive signal is a PID signal with a novel adaptation law that enhances the controller performance and allows efficient fine tuning of the controller. The second adaptive signal continuously estimates the upper bound on the lumped uncertainty vector and acts as a corrective term for the equivalent control law. A Lyapunov based guidance algorithm is implemented that can tolerate significant uncertainties in the system kinematics. The effectiveness of the system on an ROV is demonstrated through field trials in sheltered waters. For the experimental work, an extended Kalman filter is used to for navigation, blending the on-board sensor measurements with a process model to produce an estimate of the vehicle dynamics. The collective guidance and navigation system are validated using high precision optical motion capture data. The system achieves decimetre-level precision, significantly extending the capabilities of the ROV for tasks requiring high precision position and velocity control. (C) 2015 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据