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
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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 -