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Pregled bibliografske jedinice broj: 671019

Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints

Li, Z.; Yang, C.; Ding, N.; Bogdan, Stjepan; Ge, T.
Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints // International journal of control automation and systems, 10 (2012), 2; 421-429 doi:10.1007/s12555-012-0222-y (međunarodna recenzija, članak, znanstveni)

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Naslov
Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints

Autori
Li, Z. ; Yang, C. ; Ding, N. ; Bogdan, Stjepan ; Ge, T.

Izvornik
International journal of control automation and systems (1598-6446) 10 (2012), 2; 421-429

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
underwater vehicle; robust control; adaptive control

Sažetak
In this paper, robust adaptive control strategies are designed for Underwater Remotely Operated Vehicles (ROVs) with velocity constraints. First, robust control strategies are investigated for under-water ROVs, and then adaptive robust control strategies are further developed with online parameter estimation. To prevent the velocity constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the velocity constraints are not transgressed. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results for 5 degree-of-freedom (DOF) underwater ROV demonstrate the effectiveness of the proposed approach.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti



POVEZANOST RADA

Projekti:
036-0363078-3016 - Planiranje i izvođenje zadataka u robotskim i autonomnim sustavima (Bogdan, Stjepan, MZO ) ( CroRIS)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Stjepan Bogdan (autor)

Poveznice na cjeloviti tekst rada:

doi link.springer.com

Citiraj ovu publikaciju:

Li, Z.; Yang, C.; Ding, N.; Bogdan, Stjepan; Ge, T.
Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints // International journal of control automation and systems, 10 (2012), 2; 421-429 doi:10.1007/s12555-012-0222-y (međunarodna recenzija, članak, znanstveni)
Li, Z., Yang, C., Ding, N., Bogdan, S. & Ge, T. (2012) Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints. International journal of control automation and systems, 10 (2), 421-429 doi:10.1007/s12555-012-0222-y.
@article{article, author = {Li, Z. and Yang, C. and Ding, N. and Bogdan, Stjepan and Ge, T.}, year = {2012}, pages = {421-429}, DOI = {10.1007/s12555-012-0222-y}, keywords = {underwater vehicle, robust control, adaptive control}, journal = {International journal of control automation and systems}, doi = {10.1007/s12555-012-0222-y}, volume = {10}, number = {2}, issn = {1598-6446}, title = {Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints}, keyword = {underwater vehicle, robust control, adaptive control} }
@article{article, author = {Li, Z. and Yang, C. and Ding, N. and Bogdan, Stjepan and Ge, T.}, year = {2012}, pages = {421-429}, DOI = {10.1007/s12555-012-0222-y}, keywords = {underwater vehicle, robust control, adaptive control}, journal = {International journal of control automation and systems}, doi = {10.1007/s12555-012-0222-y}, volume = {10}, number = {2}, issn = {1598-6446}, title = {Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints}, keyword = {underwater vehicle, robust control, adaptive control} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus

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