INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
A Globally Stable Adaptive Control for ROV Systems
Autor/es:
JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE
Lugar:
Río Cuarto, Argentina
Reunión:
Conferencia; Reunión de Procesamiento de la Información y Control RPIC XI; 2005
Institución organizadora:
Universidad Nacional de Rio Cuarto
Resumen:
We are concerned with the de- sign of globally asymptotic adaptive control systems for autonomous ROVs with 6 degrees of freedom. Absolutely no knowledge of the system parameters is required. The controller presented is based on a combination of adaptive speed-gradient and PID controllers. The control system is able to track kinematics and positioning reference trajectories. The control design takes all hydrodynamic and dynamic nonlinearities into account. From simulations it can be appreciated a high-quality all-round control performance.
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