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  4. Dynamic positioning of underwater robotic vehicles with thruster dynamics compensation
 
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Dynamic positioning of underwater robotic vehicles with thruster dynamics compensation

Citation Link: https://doi.org/10.15480/882.1583
Publikationstyp
Journal Article
Date Issued
2013-09-12
Sprache
English
Author(s)
Bessa, Wallace Moreira  
Dutra, Max Suell  
Kreuzer, Edwin  
Institut
Mechanik und Meerestechnik M-13  
TORE-DOI
10.15480/882.1583
TORE-URI
http://tubdok.tub.tuhh.de/handle/11420/1586
Journal
International Journal of Advanced Robotic Systems  
Volume
10 (2013)
Issue
9
Start Page
325
Citation
International Journal of Advanced Robotic Systems 9 (10): 325 (2013)
Publisher DOI
10.5772/56601
Scopus ID
2-s2.0-84885673377
Publisher
Sage Publications
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/
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