Robust trajectory control of a remotely operated vehicle for underwater inspection tasks
Journal
3rd International Workshop on Scientific Use of Submarine Cables and Related Technologies
Pages
161-165
Date Issued
2003
Author(s)
Abstract
We present the design method of a robust tracking controller for our ROV. The controller has a structure of a proportional and derivative action with a non-linear compensating term. The stability of this control system is proved through the uses of a Lyapunov function. It was also shown that the tracking error is exponentially convergent. Simple relation between control parameters and the exponential factor was derived. The effectiveness of the method was verified by experiments. Tank tests and open sea experiments assure that the trajectory control method proposed herein yields satisfactory results.
SDGs
Type
conference paper