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Tytuł: A robust controller design method and stability analysis of an underactuated underwater vehicle

Autor:

Chin, Cheng Siong ; Lau, Micheal Wai Shing ; Low, Eicher ; Seet, Gerald Gim Lee

Data wydania:

2006

Typ zasobu:

artykuł

Współtwórca:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Tytuł publikacji grupowej:

AMCS, Volume 16 (2006)

Abstract:

The problem of designing a stabilizing feedback controller for an underactuated system is a challenging one since a nonlinear system is not stabilizable by a smooth static state feedback law. A necessary condition for the asymptotical stabilization of an underactuated vehicle to a single equilibrium is that its gravitational field has nonzero elements corresponding to unactuated dynamics. However, global asymptotical stability (GAS) cannot be guaranteed. ; In this paper, a robust proportional-integralderivative (PID) controller on actuated dynamics is proposed and unactuated dynamics are shown to be global exponentially bounded by the S?rdalen lemma. This gives a necessary and sufficient condition to guarantee the global asymptotic stability (GAS) of the URV system. ; The proposed method is first adopted on a remotely-operated vehicle RRC ROV II designed by the Robotic Research Centre in the Nanyang Technological University (NTU). Through the simulation using the ROV Design and Analysis toolbox (RDA) written at the NTU in the MATLAB/SIMULINK environment, the RRC ROV II is robust against parameter perturbations.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Identyfikator zasobu:

oai:zbc.uz.zgora.pl:57544

Strony:

345-356

Źródło:

AMCS, volume 16, number 3 (2006) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego

Temat i słowa kluczowe:

underwater vehicle underactuated stabilizable robust controller simulation

Kolekcje, do których przypisany jest obiekt:

Data ostatniej modyfikacji:

2024-11-05

Data dodania obiektu:

2020-08-26

Liczba wyświetleń treści obiektu:

121

Wszystkie dostępne wersje tego obiektu:

https://zbc.uz.zgora.pl/repozytorium/publication/64104

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Wyświetl opis w formacie OAI-PMH:

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Nazwa wydania Data
A robust controller design method and stability analysis of an underactuated underwater vehicle 2024-11-05

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Adres

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al. Wojska Polskiego 71
65-762 Zielona Góra

Telefon

(+48) 68 328 21 55

E-Mail

repozytorium@uz.zgora.pl

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