Robust and decoupled cascaded control system of underwater robotic vehicle for stabilization and pipeline tracking

The current paper proposes a robust and decoupled cascaded control system with output feedback control for simultaneous stabilization and pipeline tracking of a remotely operated vehicle (ROV) under hydrodynamic uncertainties. One of the ROV applications on the simultaneous stabilization and trackin...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2008-06, Vol.222 (4), p.261-278
Main Authors: Chin, C S, Lau, M W S, Low, E, Seet, G G L
Format: Article
Language:English
Subjects:
Computer simulation
Control systems
Control theory
Controllers
Design engineering
Feedback
Feedback control
Feedback control systems
Fluid mechanics
Mathematical analysis
Mechanical engineering
Output feedback
Partial differential equations
Remote control
Remotely operated vehicles
Robust control
Stability
Stabilization
Time domain analysis
Time measurement
Tracking
Underwater robots
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Summary:The current paper proposes a robust and decoupled cascaded control system with output feedback control for simultaneous stabilization and pipeline tracking of a remotely operated vehicle (ROV) under hydrodynamic uncertainties. One of the ROV applications on the simultaneous stabilization and tracking was global output feedback with backstepping method on an ODIN ROV. However, the controller design becomes complex, as partial differential equations are required in the backstepping control law and the ROVs is inherently non-linear, highly coupled in motion, unsymmetrical in vehicle design, and vulnerable to hydrodynamic uncertainties. Compared with the backstepping control and other controllers, the computer simulation shows that the proposed method is simpler and performed better in time domain response and other performance measures such as robustness and stability.
ISSN:0959-6518
2041-3041
DOI:10.1243/09596518JSCE555