Shahed University
Improvement in ROV Horizontal Plane Cruising Using Adaptive Method
Mostafa Hosseyni | Saeed Seyedtabaii
URL :
http://research.shahed.ac.ir/WSR/WebPages/Report/PaperView.aspx?PaperID=42978
Date :
2016/05/11
Publish in :
2016 24th Iranian Conference on Electrical Engineering (ICEE) ICEE2016
Keywords :
Improvement, Adaptive
Abstract :
Control of underwater remotely Operated Vehicles (ROVs) is challenging due to its highly nonlinear nature, strong coupling among variables and disturbances. Performance improvement is expected if adaptive methods are used to observe time varying model factors resulting from working point condition alteration. In this respect, feedback linearization and model reference adaptive control (MRAC) algorithms are integrated to form a control strategy for administering the horizontal plane cursing of the vehicle. The algorithm achievement is compared with what conventional PID controllers render in term of transient and steady state behavior. Extensive simulations conducted confirm the promising favorable results of the arrangement.
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Saeed Seyedtabaii