0

Full Content is available to subscribers

Subscribe/Learn More  >

Tracking Control of an Underwater Vehicle Using Adaptive Back-Stepping With Tuning Function

[+] Author Affiliations
Gholamreza Vossoughi, Mohammad H. Saghafi

Sharif University of Technology, Tehran, Iran

Paper No. DETC2005-85500, pp. 131-138; 8 pages
doi:10.1115/DETC2005-85500
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4a: ASME/IEEE Conference on Mechatronic and Embedded Systems and Applications
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4741-1 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

In this article the design and simulation of a velocity and position control for an underwater Remotely Operated Vehicle (ROV) is addressed. The system has a nonlinear dynamic with parametric uncertainties making it a reasonable test-bed for investigating the effectiveness of robust nonlinear control algorithms. The studied ROV can be actively controlled along the 3 Cartesian coordinate directions and rotated about the vertical axis using 4 thrusters positioned on the ROV. The dynamics of the actuator system, consisting of thrusters, is assumed to be a first order linear system with an unknown parameter. To control this system adaptive back-stepping, as a robust adaptive nonlinear control method, is proposed. To increase the effectiveness of the control system, tuning function method is adopted to develop the control and adaptation laws. Noting that the presence of the thruster dynamics necessitates the use of thrusters’ angular velocity feedback to measure thruster forces, the controller design is addressed both with and without thruster dynamics. Based on the simulation results, in the velocity control mode, both controllers show good performance during step response operation. But for position tracking, inclusion of the thruster dynamics results in a better performance. Exclusion of the thruster dynamics during position control, results in a limit cycle. But using thruster force feedback one achieves better performance in the same cases.

Copyright © 2005 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In