A chattering-free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation

There are two objectives to this paper. First, a chattering-free sliding-mode controller is proposed for the trajectory control of remotely operated vehicles (ROVs). Second, a new approach for thrust allocation is proposed that is based on minimizing the largest individual component of the thrust ma...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	Ocean engineering 2008-11, Vol.35 (16), p.1647-1659
Hauptverfasser:	Soylu, Serdar, Buckham, Bradley J., Podhorodeski, Ron P.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Exact sciences and technology Fault-tolerant systems Ground, air and sea transportation, marine construction Marine Miscellaneous transportation Nonlinear control Thruster force allocation Underwater vehicles
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!