|Table of Contents|

Citation:
　Mostafa Eslami,Cheng Siong Chin,Amin Nobakhti.Robust Modeling, Sliding-Mode Controller, and Simulation of an Underactuated ROV Under Parametric Uncertainties and Disturbances[J].Journal of Marine Science and Application,2019,(2):213-227.[doi:10.1007/s11804-018-0037-1]
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Robust Modeling, Sliding-Mode Controller, and Simulation of an Underactuated ROV Under Parametric Uncertainties and Disturbances

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Title:
Robust Modeling, Sliding-Mode Controller, and Simulation of an Underactuated ROV Under Parametric Uncertainties and Disturbances
Author(s):
Mostafa Eslami1;  Cheng Siong Chin2;  Amin Nobakhti1
Affilations:
Author(s):
Mostafa Eslami1;  Cheng Siong Chin2;  Amin Nobakhti1
1 Electrical Engineering Department, Sharif University of Technology, Azadi Avenue, Tehran 11365-11155, Iran;
2 Newcastle University Singapore, Singapore 599493, Singapore
Keywords:
Remotely operated vehicle; Robust modeling; Sliding-mode control; Simulation; Disturbances; Parametric uncertainties
分类号:
-
DOI:
10.1007/s11804-018-0037-1
Abstract:
A dynamic model of a remotely operated vehicle (ROV) is developed. The hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFXTM and WAMITTM. A sliding-mode controller (SMC) is then designed for the ROV model. The controller is subsequently robustified against modeling uncertainties, disturbances, and measurement errors. It is shown that when the system is subjected to bounded uncertainties, the SMC will preserve stability and tracking response. The paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.

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Memo

Memo:
Received date:2017-12-12;Accepted date:2018-4-4。
Corresponding author:Cheng Siong Chin
Last Update: 2019-07-06