A MIMO Nonlinear Robust Controller for Work-Class ROVs Positioning and Trajectory Tracking Control

摘要：

In this paper, for the positioning and trajectory tracking control of work-class ROVs with parameter uncertainties and unknown disturbances, a systematically MIMO nonlinear robust controller design method based on adaptive backstepping technique and sliding control is introduced. By Lyapunov stability design method, the locally asymptotically stability of closed-loop control system has been proved. The effectiveness of controller has been demonstrated by simulation studies. The simulation results on a work-class ROV proved that the proposed control method has good control performance, and the controller is robust to parameter uncertainties and unknown disturbances.

关键词： Backstepping Sliding control Nonlinear control Work-class ROV Underwater vehicles

作者: Kangwu Zhu Linyi Gu

作者单位: State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, Zhejiang 310027, China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 2570-2575

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）