A Multivariable Decoupling Design of an ROV Depth Control System (A Direct Adaptive Fuzzy SMC Approach)

[+] Author and Article Information
A. Trebi-Ollennu, B. A. Stacey, B. A. White

Cranfield University, Royal Military College of Science, School of Electrical Engineering and Science, Shrivenham, Swindon Wilt Sn6 8la, U.K.

J. Dyn. Sys., Meas., Control 119(1), 89-94 (Mar 01, 1997) (6 pages) doi:10.1115/1.2801222 History: Received September 20, 1994; Revised January 10, 1996; Online December 03, 2007


This paper describes, an Adaptive Fuzzy Sliding Mode Control (AFSMC) method applied to the control of the vertical motion of a minehunting Remotely Operated Vehicle (ROV). The effects of parameter variation of the ROV are considered, and performance and robustness to uncertainty are assessed. The proposed control methodology addresses the fundamental issues of stability, performance requirements, and model variations within a single framework. The effectiveness of the technique is demonstrated by its ability to decouple pitch and heave of the ROV subjected to parameter variations.

Copyright © 1997 by The American Society of Mechanical Engineers
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