JORDAN Mario Alberto
congresos y reuniones científicas
Design of adaptive control systems for ROVs using inverse dynamics and state/disturbance observation
JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE; PINNA CORTIÑAS, JUAN
Simposio; 6th Argentine Symposium on Computing Technology AST 2006; 2005
In the design of adaptive control systems for remotely operated vehicles (ROVs) with high-quality specifications, thrusters frequency response usually overlaps with the aimed frequency response of the controlled system. In this case the thruster dynamics can not be considered as parasitic and in turn it has to be embedded in the controller design. In this work a methodology based on inverse dynamics and asymptotic stable state/disturbance observers is developed for embedding the thruster dynamics and nonlinearities in the design of adaptive speed-gradient control algorithms.