Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

PurposeA novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDO...

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Veröffentlicht in:	Industrial robot 2021-08, Vol.48 (3), p.366-377
Hauptverfasser:	Gong, Yihui, Li, Lin, Qi, Shengbo, Wang, Changbin, Song, Dalei
Format:	Artikel
Sprache:	eng
Schlagworte:	Active control Algorithms Attenuation Attitude control Autonomous underwater vehicles Computational fluid dynamics Control algorithms Control equipment Control stability Control systems design Controllers Design Disturbance observers Dynamic models Fluid flow Fluid mechanics Hydrodynamics Investigations Maneuverability Methods Motion control Nonlinearity Parameters Perturbation Proportional integral derivative Remote control Remotely operated vehicles Robotics Robots Robust control Servocontrol Stability analysis Vehicles Velocity Yaw
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