Output feedback motion control system for observation class ROVs based on a high-gain state observer: Theoretical and experimental results

被引：59

作者：

Fernandes, Daniel de A. ^{[1
]}

Sorensen, Asgeir J. ^{[1
]}

Pettersen, Kristin Y. ^{[2
]}

Donha, Decio C. ^{[3
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Ctr Autonomous Marine Operat & Syst AMOS, Dept Marine Technol, NO-7491 Trondheim, Norway

[2] Norwegian Univ Sci & Technol NTNU, Ctr Autonomous Marine Operat & Syst AMOS, Dept Engn Cybernet, NO-7491 Trondheim, Norway

[3] Univ Sao Paulo Poli USP, Polytech Sch, Dept Mech Engn, BR-05508900 Sao Paulo, Brazil

来源：

CONTROL ENGINEERING PRACTICE | 2015年 / 39卷

关键词：

Feedback linearisation; High-gain state observer; MIMO PID control; Output feedback control; ROV; Trajectory tracking; NONLINEAR-SYSTEMS; UNDERWATER;

D O I：

10.1016/j.conengprac.2014.12.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a motion control system for observation class ROVs. It is essentially an output feedback control system composed of a MIMO PID controller, which is aided by reference feedforward, and a high-gain observer. Feedback linearisation of the plant dynamics is also performed. Four degrees-of-freedom are controlled (surge, sway, heave, and yaw). Stability and satisfactory performance are attained under suitable and smooth reference trajectories, despite the presence of unmodelled plant dynamics, plant parameter variations, measurement errors and noise, and environmental disturbances. Results from full-scale sea trials based on NTNU's ROV Minerva are presented and discussed. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：90 / 102

页数：13

共 45 条

[1] Occurrence and distribution of rhodolith beds on the Fernando de Noronha Archipelago of Brazil [J].