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Supervisory Cascaded Controllers Design: Experiment Test on a Remotely-Operated Vehicle

Lookup NU author(s): Professor Cheng Chin, Dr Michael Lau


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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 controllers that cancel the non-linear dynamics, the system is robust against the pre-defined perturbations on the hydrodynamic added mass and the damping terms. The values used in these perturbed terms were obtained numerically using the WAMITTM software. Compared with other controllers such as proportional-integral and backstepping methods, the pool test showed that the proposed method gives better time domain response and robustness against the perturbed terms.

Publication metadata

Author(s): Chin C, Lau M, Low E

Publication type: Article

Publication status: Published

Journal: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Year: 2011

Volume: 225

Issue: 3

Pages: 584-603

ISSN (print): 0954-4062

ISSN (electronic): 2041-2983

Publisher: Professional Engineering Publishing Ltd.


DOI: 10.1243/09544062JMES2223


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