Abstract
Modern underwater unmanned vehicle must operate in unpredictable conditions of water environment. This leads to a problem of motion control systems with uncertain parameters development. The paper is dedicated to development of robust motion control system for an underwater remotely operated vehicle. Several issues of developing control systems with parametric uncertainty were considered: deriving a mathematical model of an underwater remotely operated vehicle with interval parametric uncertainty, estimation of interval parameters values, developing a structure of motion control system and synthesizing a set of robust controllers, providing desired control quality in the system.
| Original language | English |
|---|---|
| Pages (from-to) | 378-384 |
| Number of pages | 7 |
| Journal | International Journal of Mechanical Engineering and Robotics Research |
| Volume | 6 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 1 Sep 2017 |
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Keywords
- Interval parameters
- Mathematical model
- Parametric synthesis
- Remotely operated vehicle
- Robust control
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
- Mechanical Engineering
Cite this
Motion control system for a remotely operated vehicle with interval parameters. / Gayvoronskiy, Sergey A.; Khozhaev, Ivan V.; Ezangina, Tatiana A.
In: International Journal of Mechanical Engineering and Robotics Research, Vol. 6, No. 5, 01.09.2017, p. 378-384.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Motion control system for a remotely operated vehicle with interval parameters
AU - Gayvoronskiy, Sergey A.
AU - Khozhaev, Ivan V.
AU - Ezangina, Tatiana A.
PY - 2017/9/1
Y1 - 2017/9/1
N2 - Modern underwater unmanned vehicle must operate in unpredictable conditions of water environment. This leads to a problem of motion control systems with uncertain parameters development. The paper is dedicated to development of robust motion control system for an underwater remotely operated vehicle. Several issues of developing control systems with parametric uncertainty were considered: deriving a mathematical model of an underwater remotely operated vehicle with interval parametric uncertainty, estimation of interval parameters values, developing a structure of motion control system and synthesizing a set of robust controllers, providing desired control quality in the system.
AB - Modern underwater unmanned vehicle must operate in unpredictable conditions of water environment. This leads to a problem of motion control systems with uncertain parameters development. The paper is dedicated to development of robust motion control system for an underwater remotely operated vehicle. Several issues of developing control systems with parametric uncertainty were considered: deriving a mathematical model of an underwater remotely operated vehicle with interval parametric uncertainty, estimation of interval parameters values, developing a structure of motion control system and synthesizing a set of robust controllers, providing desired control quality in the system.
KW - Interval parameters
KW - Mathematical model
KW - Parametric synthesis
KW - Remotely operated vehicle
KW - Robust control
UR - http://www.scopus.com/inward/record.url?scp=85028702206&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85028702206&partnerID=8YFLogxK
U2 - 10.18178/ijmerr.6.5.378-384
DO - 10.18178/ijmerr.6.5.378-384
M3 - Article
AN - SCOPUS:85028702206
VL - 6
SP - 378
EP - 384
JO - International Journal of Mechanical Engineering and Robotics Research
JF - International Journal of Mechanical Engineering and Robotics Research
SN - 2278-0149
IS - 5
ER -