This paper focuses on the adaptive trajectory tracking control for a remotelyoperatedvehicle (ROV) with an unknown dynamic model and the unmeasured states. Unlike most previous trajectory tracking control approaches, in this paper, the velocity states and the angular velocity states in the body-fixed frame are unmeasured, and the thrust model is inaccurate. Obviously, it is more in line with the actual ROV systems. Since the dynamic model is unknown, a new local recurrent ...

(Far Eastern Federal University)+ 1 AuthorsAndrea Monteriù10

Estimated H-index: 10

(Marche Polytechnic University)

Summary The paper is devoted to a new adaptive variable-structure system (VSS) control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of sliding mode parameter (SMP) in order to have adaptation in VSS. It is demonstrated that the extreme values of SMPs are directly associated with high efficiency of transient processes in VSS. The essence of the presented adaptation algorithm consists on the adjustment of switching surface parameters such that ...

(Far Eastern Federal University)+ 1 AuthorsAndrea Monteriù10

Estimated H-index: 10

(Marche Polytechnic University)

Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived...

Abstract Between 2004 and 2007, Fisheries and Oceans Canada undertook a management action to conserve overfished populations of Inshore Rockfishes by designating 164 Rockfish Conservation Areas (RCAs) closed to most recreational and commercial fishing. However, no research has yet assessed the effectiveness of the RCA network at promoting groundfish population recoveries. We surveyed the fish communities of 35 RCAs and adjacent unprotected areas in southern British Columbia using a remotely

For any small company or research group in offshore renewable energy, the costs to invest into Remotely OperateVehicles (ROVs) for offshore operations are highly significant. There is however a po ...

Abstract An active failure and fault tolerant control scheme for an underwater remotelyoperatedvehicle is proposed in this work. The proposed solution is based on a fault tolerant allocation, which takes into account an estimate of the faults on the vehicle’s thrusters for an accurate redistribution of the control effort. The diagnosis is based on a sliding mode observer, which generates three residuals and allows to evaluate the health condition of each actuator of...

Abstract In this paper, the constrained thrust allocation problem is studied and solved for the class of over-actuated RemotelyOperatedVehicles. In detail, we find the solution of the thrust allocation when the thrusters are affected by possible faults and, simultaneously, taking into account the thrusters’ saturation limits. The proposed thrust allocation algorithm is tested both numerically, with randomly generated input samples, and applied in simulation for the traject...

This paper proposes an actuator fault-tolerant control scheme, composed of the usual modules performing detection, isolation, accommodation, designed for a class of nonlinear systems, and then applied to an underwater remotelyoperatedvehicle (ROV) used for inspection purposes. Detection is in charge of a residual generation module, while a sliding-mode-based approach has been used both for ROV control and fault isolation, after the application of an input decoupling nonlin...

This paper presents an experimental study on inertial hydrodynamic behaviors of an open-frame remotelyoperatedvehicle (ROV) that has a complex open-frame hull but a large capacity to hold more instruments on board than those of other ROVs. A 1:4 scaled model was tested by a vertical planar motion mechanism in a circulating water channel of Harbin Engineering University. The inertial coefficients, which can be used for the simulation of motions and therefore for the maneuve...

Abstract In this paper, we present a two stages actuator Fault Tolerant Control (FTC) strategy for the trajectory tracking of a RemotelyOperatedVehicle (ROV). Dynamic Surface Control (DSC) is used to generate the moment and forces required by the vehicle to perform the desired motion. In the second stage of the control system, a fault tolerant thruster allocation policy is employed to distribute moment and forces among the thrusters. Exhaustive simulations have been...