Dynamic positioning of underwater robotic vehicles with thruster dynamics compensation

The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation of thruster dynamics. Without compensation, the closed-loop positioning system can exhibit limit cycles. This undesired behaviour may compromise the overall system stability. In this work, a fuzzy sliding-mode compensation scheme is proposed for electrically actuated bladed thrusters, which are commonly employed in the dynamic positioning of underwater vehicles. The boundedness and convergence properties of the tracking error are analytically proven. The numerical results suggest that this approach shows a greatly improved performance when compared with an uncompensated counterpart.

Subjects

fuzzy logic

sliding-modes

thruster dynamics

underwater robotic vehicles

DDC Class

620: Ingenieurwissenschaften

Lizenz

https://creativecommons.org/licenses/by/3.0/

Name

56601.pdf

Size

1.7 MB

Format

Adobe PDF

Options

Dynamic positioning of underwater robotic vehicles with thruster dynamics compensation