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Active Heave Compensation Control of ROVS
Author(s) -
Li JiaWang,
Ge Tong,
Wang XuYang
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.575
Subject(s) - backstepping , control theory (sociology) , compensation (psychology) , controller (irrigation) , remotely operated underwater vehicle , hydraulic cylinder , motion control , engineering , observer (physics) , control engineering , nonlinear system , tracking (education) , remotely operated vehicle , computer science , adaptive control , control (management) , mobile robot , artificial intelligence , physics , pedagogy , aerospace engineering , mechanical engineering , psychology , psychoanalysis , robot , agronomy , biology , quantum mechanics
To keep the remotely operated vehicles ( ROVs ) motion unaffected by the ship's motion in the vertical direction, a nonlinear active heave compensation controller is designed in this paper. The compensation system consists mainly of an electro‐hydraulic system driven by a double rod cylinder. Based on the external model principle, an adaptive observer is proposed to asymptotically estimate the ship's heave motion represented by a set of sinusoidal signals. The hybrid control development and stability analysis are based on the L yapunov's direct method and backstepping technique. The proposed controller forces the tracking error to globally asymptotically converge to a small zone around zero that can be reduced arbitrarily. Simulation results illustrate and validate the effectiveness of the proposed control scheme.