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

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 controller...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2011-03, Vol.225 (3), p.584-603
Hauptverfasser:	Chin, C S, Lau, M W S, Low, E
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer simulation Controllers Damping Design engineering Dynamical systems Experiments Fluid mechanics Mechanical engineering Nonlinear dynamics Remote control Remotely operated vehicles Robustness (mathematics) Stabilization Switching Test procedures Time domain analysis Tracking Uncertainty Vehicles
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