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Publisher DOI: 10.5772/56601
Title: Dynamic positioning of underwater robotic vehicles with thruster dynamics compensation
Language: English
Authors: Bessa, Wallace Moreira 
Dutra, Max Suell 
Kreuzer, Edwin 
Keywords: fuzzy logic;sliding-modes;thruster dynamics;underwater robotic vehicles
Issue Date: 12-Sep-2013
Publisher: Sage Publications
Source: International Journal of Advanced Robotic Systems 9 (10): 325 (2013)
Journal or Series Name: International Journal of Advanced Robotic Systems 
Abstract (english): 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.
DOI: 10.15480/882.1583
ISSN: 1729-8814
Institute: Mechanik und Meerestechnik M-13 
Type: (wissenschaftlicher) Artikel
License: CC BY 3.0 (Attribution) CC BY 3.0 (Attribution)
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