Motion control system for a remotely operated vehicle with interval parameters

Research output: Contribution to journalArticle

2 Citations (Scopus)

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 languageEnglish
Pages (from-to)378-384
Number of pages7
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume6
Issue number5
DOIs
Publication statusPublished - 1 Sep 2017

Fingerprint

Remotely operated vehicles
Motion control
Control systems
Robust control
Quality control
Mathematical models
Controllers
Water
Uncertainty
Remotely operated underwater vehicles

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

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title = "Motion control system for a remotely operated vehicle with interval parameters",
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.",
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author = "Gayvoronskiy, {Sergey A.} and Khozhaev, {Ivan V.} and Ezangina, {Tatiana A.}",
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AU - Gayvoronskiy, Sergey A.

AU - Khozhaev, Ivan V.

AU - Ezangina, Tatiana A.

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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

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KW - Parametric synthesis

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KW - Robust control

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