Observer-based controller Design for Remotely Operated Vehicle ROV

2014 ◽  
Author(s):  
Adel Khadhraoui ◽  
Lotfi Beji ◽  
Samir Otmane ◽  
Azgal Abichou
Keyword(s):  
Controller Design ◽  
Remotely Operated Vehicle

Supervisory cascaded controller design: experiment test on a remotely operated vehicle

2010 ◽  
Vol 225 (3) ◽  
pp. 584-603 ◽  
Author(s):  
C S Chin ◽  
M W S Lau ◽  
E Low
Keyword(s):  
Time Domain ◽  
Controller Design ◽  
Added Mass ◽  
Design Experiment ◽  
Switching Scheme ◽  
Remotely Operated Vehicle ◽  
Linear Dynamics ◽  
Non Linear ◽  
Time Domain Response ◽  
Pool Test

The article proposes a cascaded multi-controllers switching scheme for stabilization and pipeline tracking of a remotely operated vehicle (ROV) under hydrodynamic uncertainties. The ROV is inherently non-linear, highly coupled in motions, and vulnerable to hydrodynamic uncertainties. With controllers that cancel the non-linear dynamics, the system is robust against the pre-defined perturbations on the hydrodynamic added mass and the damping terms. The values used in these perturbed terms were obtained numerically using the WAMITTM software. Compared with other controllers such as proportional-integral and backstepping methods, the pool test showed that the proposed method gives better time domain response and robustness against the perturbed terms.

Continuous Time Controller Design

IEE Review ◽  
1991 ◽  
Vol 37 (6) ◽  
pp. 228
Author(s):  
Stephen Barnett
Keyword(s):  
Continuous Time ◽  
Controller Design

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

Mode-Based Controller Design for Hammerstein Models Using Closed-Loop Tranjent Response Data

2016 ◽  
Vol 136 (5) ◽  
pp. 625-632
Author(s):  
Yoshihiro Matsui ◽  
Hideki Ayano ◽  
Shiro Masuda ◽  
Kazushi Nakano
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Response Data ◽  
Hammerstein Models
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