Positioning of Floating Arm in water Considering Thruster Dynamics.
نویسندگان
چکیده
منابع مشابه
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,...
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Thruster Dynamics Compensation for the Positioning of Underwater Robotic Vehicles through a Fuzzy Sliding Mode Based Approach
The dynamic behavior of underwater robotic vehicles can be greatly influenced by the nonlinear dynamics of the vehicle thrusters. In this way, the implementation of a good control strategy for the thruster subsystem is essential for the accurate control of the entire robotic vehicle. It was already shown in the literature that without compensation for thruster dynamics the closed-loop positioni...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1995
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.61.4289