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Robust adaptive motion control for underwater remotely operated vehicles with velocity constraints

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Abstract

In this paper, robust adaptive control strategies are designed for Underwater Remotely Operated Vehicles (ROVs) with velocity constraints. First, robust control strategies are investigated for under-water ROVs, and then adaptive robust control strategies are further developed with online parameter estimation. To prevent the velocity constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the velocity constraints are not transgressed. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results for 5 degree-of-freedom (DOF) underwater ROV demonstrate the effectiveness of the proposed approach.

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Authors and Affiliations

  1. College of Automation, South China of Technology, Guangzhou, China

    Zhijun Li

  2. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Zhijun Li & Nan Ding

  3. School of Computing and Mathematics, Plymouth University, Plymouth, UK

    Chenguang Yang

  4. Department of Control and Computer Engineering in Automation, University of Zagreb, Zagreb, Croatia

    Stjepan Bogdan

  5. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Tong Ge

Authors
  1. Zhijun Li
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  2. Chenguang Yang
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  3. Nan Ding
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  4. Stjepan Bogdan
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  5. Tong Ge
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Corresponding author

Correspondence to Zhijun Li.

Additional information

Recommended by Editorial Board member Wen-Hua Chen under the direction of Editor-in-Chief Jae-Bok Song.

This work is supported by the National Natural Science Foundation of China (Nos. 60804003, 61174045, and 60935001) and International Science & Technology Cooperation Program of China (No. 2011DFA10950). The work is also supported by the Fundamental Research Funds for the Central Universities (No. 2011ZZ0104).

Zhijun Li received his Dr. Eng. degree in Mechatronics, Shanghai Jiao Tong University, P. R. China, in 2002. He is with the Department of Automation, Shanghai Jiao Tong University, P. R. China, as an associate professor and also a professor in College of Automation, South China University of Technology, Guangzhou, China. Prof. Li’s current research interests include adaptive/robust control, mobile manipulator, teleoperation system, etc.

Chenguang Yang obtained his B.Eng degree in Measurement and Control from Northwestern Polytechnical University, China, 2005, and his Ph.D. degree in Control Engineering from National University of Singapore, 2010. He was with the Imperial College London as a Research Associate working on human robot interaction from Oct 2009 to Dec 2010. He has been with Plymouth University as a Lecturer in Robotics from Dec 2010 and is now on secondment as a Marie Curie International Incoming Fellow, supported by the European Commission. His current research interests include robotics, control, and human-robot interaction.

Nan Ding received her B.S. degree in Automation from Shandong University of Science and Technology, China, in 2008. Currently, she is working toward a Master degree. Her study interests include robust and adaptive control of robot manipulators, neural networks, and bio-robot.

Stjepan Bogdan received his B.S.E.E., M.S.E.E. and Ph.D.E.E. from the University of Zagreb, Croatia, in 1990, 1993, and 1999, respectively. Currently he is an associate professor at the Faculty of Electrical Engineering and Computing, University of Zagreb. His main areas of interest are discrete event systems, intelligent control systems and autonomous systems. He is a coauthor of three books and numerous papers published in journals and proceedings. He serves as associate editor of IEEE Transactions of Automation Science and Engineering, Journal of Intelligent and Robotic Systems, Transactions of the Institute of Measurement and Control and Journal of Control Theory and Applications.

Tong Ge is with the School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, as a professor.

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Li, Z., Yang, C., Ding, N. et al. Robust adaptive motion control for underwater remotely operated vehicles with velocity constraints. Int. J. Control Autom. Syst. 10, 421–429 (2012). https://doi.org/10.1007/s12555-012-0222-y

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  • DOI: https://doi.org/10.1007/s12555-012-0222-y

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