Adaptive control of ROVs with actuator dynamics and saturation

A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modi...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Ola-Erik Fjellstad [verfasserIn] Thor I. Fossen [verfasserIn] Olav Egeland [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	1992

Schlagwörter:	ROV model reference adaptive control

Übergeordnetes Werk:	In: Modeling, Identification and Control - Norwegian Society of Automatic Control, 2010, 13(1992), 3, Seite 175-188
Übergeordnetes Werk:	volume:13 ; year:1992 ; number:3 ; pages:175-188

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc Journal toc

DOI / URN:	10.4173/mic.1992.3.5

Katalog-ID:	DOAJ065279026

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spelling	10.4173/mic.1992.3.5 doi (DE-627)DOAJ065279026 (DE-599)DOAJ444d82c5bf4e44239afb54bf08e92512 DE-627 ger DE-627 rakwb eng QA75.5-76.95 Ola-Erik Fjellstad verfasserin aut Adaptive control of ROVs with actuator dynamics and saturation 1992 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modifying the reference model acceleration is used to avoid thruster saturation. The design methods are simulated for the yawing motion of an underwater vehicle. ROV model reference adaptive control Electronic computers. Computer science Thor I. Fossen verfasserin aut Olav Egeland verfasserin aut In Modeling, Identification and Control Norwegian Society of Automatic Control, 2010 13(1992), 3, Seite 175-188 (DE-627)523862563 (DE-600)2268988-6 18901328 nnns volume:13 year:1992 number:3 pages:175-188 https://doi.org/10.4173/mic.1992.3.5 kostenfrei https://doaj.org/article/444d82c5bf4e44239afb54bf08e92512 kostenfrei http://www.mic-journal.no/PDF/1992/MIC-1992-3-5.pdf kostenfrei https://doaj.org/toc/0332-7353 Journal toc kostenfrei https://doaj.org/toc/1890-1328 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 1992 3 175-188
allfields_unstemmed	10.4173/mic.1992.3.5 doi (DE-627)DOAJ065279026 (DE-599)DOAJ444d82c5bf4e44239afb54bf08e92512 DE-627 ger DE-627 rakwb eng QA75.5-76.95 Ola-Erik Fjellstad verfasserin aut Adaptive control of ROVs with actuator dynamics and saturation 1992 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modifying the reference model acceleration is used to avoid thruster saturation. The design methods are simulated for the yawing motion of an underwater vehicle. ROV model reference adaptive control Electronic computers. Computer science Thor I. Fossen verfasserin aut Olav Egeland verfasserin aut In Modeling, Identification and Control Norwegian Society of Automatic Control, 2010 13(1992), 3, Seite 175-188 (DE-627)523862563 (DE-600)2268988-6 18901328 nnns volume:13 year:1992 number:3 pages:175-188 https://doi.org/10.4173/mic.1992.3.5 kostenfrei https://doaj.org/article/444d82c5bf4e44239afb54bf08e92512 kostenfrei http://www.mic-journal.no/PDF/1992/MIC-1992-3-5.pdf kostenfrei https://doaj.org/toc/0332-7353 Journal toc kostenfrei https://doaj.org/toc/1890-1328 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 1992 3 175-188
allfieldsGer	10.4173/mic.1992.3.5 doi (DE-627)DOAJ065279026 (DE-599)DOAJ444d82c5bf4e44239afb54bf08e92512 DE-627 ger DE-627 rakwb eng QA75.5-76.95 Ola-Erik Fjellstad verfasserin aut Adaptive control of ROVs with actuator dynamics and saturation 1992 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modifying the reference model acceleration is used to avoid thruster saturation. The design methods are simulated for the yawing motion of an underwater vehicle. ROV model reference adaptive control Electronic computers. Computer science Thor I. Fossen verfasserin aut Olav Egeland verfasserin aut In Modeling, Identification and Control Norwegian Society of Automatic Control, 2010 13(1992), 3, Seite 175-188 (DE-627)523862563 (DE-600)2268988-6 18901328 nnns volume:13 year:1992 number:3 pages:175-188 https://doi.org/10.4173/mic.1992.3.5 kostenfrei https://doaj.org/article/444d82c5bf4e44239afb54bf08e92512 kostenfrei http://www.mic-journal.no/PDF/1992/MIC-1992-3-5.pdf kostenfrei https://doaj.org/toc/0332-7353 Journal toc kostenfrei https://doaj.org/toc/1890-1328 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 1992 3 175-188
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language	English
source	In Modeling, Identification and Control 13(1992), 3, Seite 175-188 volume:13 year:1992 number:3 pages:175-188
sourceStr	In Modeling, Identification and Control 13(1992), 3, Seite 175-188 volume:13 year:1992 number:3 pages:175-188
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callnumber-first	Q - Science
author	Ola-Erik Fjellstad
spellingShingle	Ola-Erik Fjellstad misc QA75.5-76.95 misc ROV misc model reference adaptive control misc Electronic computers. Computer science Adaptive control of ROVs with actuator dynamics and saturation
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topic_title	QA75.5-76.95 Adaptive control of ROVs with actuator dynamics and saturation ROV model reference adaptive control
topic	misc QA75.5-76.95 misc ROV misc model reference adaptive control misc Electronic computers. Computer science
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title	Adaptive control of ROVs with actuator dynamics and saturation
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title_full	Adaptive control of ROVs with actuator dynamics and saturation
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title_sort	adaptive control of rovs with actuator dynamics and saturation
callnumber	QA75.5-76.95
title_auth	Adaptive control of ROVs with actuator dynamics and saturation
abstract	A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modifying the reference model acceleration is used to avoid thruster saturation. The design methods are simulated for the yawing motion of an underwater vehicle.
abstractGer	A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modifying the reference model acceleration is used to avoid thruster saturation. The design methods are simulated for the yawing motion of an underwater vehicle.
abstract_unstemmed	A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modifying the reference model acceleration is used to avoid thruster saturation. The design methods are simulated for the yawing motion of an underwater vehicle.
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title_short	Adaptive control of ROVs with actuator dynamics and saturation
url	https://doi.org/10.4173/mic.1992.3.5 https://doaj.org/article/444d82c5bf4e44239afb54bf08e92512 http://www.mic-journal.no/PDF/1992/MIC-1992-3-5.pdf https://doaj.org/toc/0332-7353 https://doaj.org/toc/1890-1328
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up_date	2024-07-03T13:56:18.537Z
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