A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control. Issue 23 (2016)

• Record Type: Journal Article
• Authors: Dyda, A.A.; Oskin, D.; Longhi, S.; Monteriù, A.
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 23(2016)
• Page Start: 311
• Page End: 316
• Publication Date: 2016
• Subjects: discontinuous control -- nonlinear switching surface -- sliding mode -- remotely operated vehicle; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.360
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived approach is proven by applying it for controlling a remotely operated vehicle with parameters from a real ROV. Simulation results show the effectiveness of the proposed approach.