Tatuí underwater vehicle control using variable structure
Autor(a) principal: | |
---|---|
Data de Publicação: | 2012 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | por |
Título da fonte: | Vetor (Online) |
Texto Completo: | https://periodicos.furg.br/vetor/article/view/2569 |
Resumo: | Designing control laws for unmanned underwater vehicles presents extra difficulties, mostly associated with differences between the nominal dynamic model and the physical plant. These differences exist mainly because of the existence of non-modeled dynamics and also the model parameters difficult to be identified. Therefore, it is essential that the control law, designed to be deployed in practice, has characteristics of strength enabling him to maintain the performance and stability. In this sense, control the structure variable is known suitable for systems with parametric uncertainties. This paper describes the kinematic and dynamic model of underwater vehicles. It also presents the development of an automatic controller position. This control is necessary in a position where you want to take the vehicle to a certain position and keep it there while performing some task. After the theoretical development, simulations are presented with the ROV (Tatuí), where it was found that the surface integral variable structure showed the best behavior. |
id |
FURG-7_b10fc0b5808b12a44d796566bfb1735c |
---|---|
oai_identifier_str |
oai:periodicos.furg.br:article/2569 |
network_acronym_str |
FURG-7 |
network_name_str |
Vetor (Online) |
repository_id_str |
|
spelling |
Tatuí underwater vehicle control using variable structureControle do veículo subaquático tatuí utilizando estrutura variávelControle de PosiçãoROVEstrutura VariávelModelagem DinâmicaRobustezPosition ControlVariable StructureDynamic ModelRobustDesigning control laws for unmanned underwater vehicles presents extra difficulties, mostly associated with differences between the nominal dynamic model and the physical plant. These differences exist mainly because of the existence of non-modeled dynamics and also the model parameters difficult to be identified. Therefore, it is essential that the control law, designed to be deployed in practice, has characteristics of strength enabling him to maintain the performance and stability. In this sense, control the structure variable is known suitable for systems with parametric uncertainties. This paper describes the kinematic and dynamic model of underwater vehicles. It also presents the development of an automatic controller position. This control is necessary in a position where you want to take the vehicle to a certain position and keep it there while performing some task. After the theoretical development, simulations are presented with the ROV (Tatuí), where it was found that the surface integral variable structure showed the best behavior.Projetar leis de controle para veículos subaquáticos não tripulados apresenta dificuldades extras, geralmente associadas a diferenças entre o modelo dinâmico nominal e a planta física. Estas diferenças existem principalmente em razão da existência de dinâmicas não modeladas e ainda, parâmetros do modelo difíceis de serem identificados. Portanto, é fundamental que a lei de controle, projetada para ser implementada na prática, apresente características de robustez que lhe permita manter o desempenho e a estabilidade. Neste sentido, o controle a estrutura variável é reconhecidamente adequado a sistemas com incertezas paramétricas. O presente artigo descreve o modelo cinemático e dinâmico de veículos subaquáticos. Apresenta também o desenvolvimento de um controlador automático de posição. Esse controle em posição é necessário sempre que se deseja levar o veículo para uma determinada posição e lá mantê-lo durante a realização de alguma tarefa. Após o desenvolvimento teórico, simulações são apresentadas com o ROV (Tatuí), onde se verificou que a estrutura variável com superfície integral apresentou o melhor comportamento.Universidade Federal do Rio Grande2012-04-28info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://periodicos.furg.br/vetor/article/view/2569VETOR - Journal of Exact Sciences and Engineering; Vol. 21 No. 1 (2011); 110-129VETOR - Revista de Ciências Exatas e Engenharias; v. 21 n. 1 (2011); 110-1292358-34520102-7352reponame:Vetor (Online)instname:Universidade Federal do Rio Grande (FURG)instacron:FURGporhttps://periodicos.furg.br/vetor/article/view/2569/1385Copyright (c) 2014 VETOR - Revista de Ciências Exatas e Engenhariasinfo:eu-repo/semantics/openAccessGomes, Samuel da SilvaZeilmann, Adriano PillaMadeira, Marco Antônio de SouzaSoares, Leonardo BandeiraGomes, Sebastião Cícero de Pinheiro2023-03-22T15:42:44Zoai:periodicos.furg.br:article/2569Revistahttps://periodicos.furg.br/vetorPUBhttps://periodicos.furg.br/vetor/oaigmplatt@furg.br2358-34520102-7352opendoar:2023-03-22T15:42:44Vetor (Online) - Universidade Federal do Rio Grande (FURG)false |
dc.title.none.fl_str_mv |
Tatuí underwater vehicle control using variable structure Controle do veículo subaquático tatuí utilizando estrutura variável |
title |
Tatuí underwater vehicle control using variable structure |
spellingShingle |
Tatuí underwater vehicle control using variable structure Gomes, Samuel da Silva Controle de Posição ROV Estrutura Variável Modelagem Dinâmica Robustez Position Control Variable Structure Dynamic Model Robust |
title_short |
Tatuí underwater vehicle control using variable structure |
title_full |
Tatuí underwater vehicle control using variable structure |
title_fullStr |
Tatuí underwater vehicle control using variable structure |
title_full_unstemmed |
Tatuí underwater vehicle control using variable structure |
title_sort |
Tatuí underwater vehicle control using variable structure |
author |
Gomes, Samuel da Silva |
author_facet |
Gomes, Samuel da Silva Zeilmann, Adriano Pilla Madeira, Marco Antônio de Souza Soares, Leonardo Bandeira Gomes, Sebastião Cícero de Pinheiro |
author_role |
author |
author2 |
Zeilmann, Adriano Pilla Madeira, Marco Antônio de Souza Soares, Leonardo Bandeira Gomes, Sebastião Cícero de Pinheiro |
author2_role |
author author author author |
dc.contributor.author.fl_str_mv |
Gomes, Samuel da Silva Zeilmann, Adriano Pilla Madeira, Marco Antônio de Souza Soares, Leonardo Bandeira Gomes, Sebastião Cícero de Pinheiro |
dc.subject.por.fl_str_mv |
Controle de Posição ROV Estrutura Variável Modelagem Dinâmica Robustez Position Control Variable Structure Dynamic Model Robust |
topic |
Controle de Posição ROV Estrutura Variável Modelagem Dinâmica Robustez Position Control Variable Structure Dynamic Model Robust |
description |
Designing control laws for unmanned underwater vehicles presents extra difficulties, mostly associated with differences between the nominal dynamic model and the physical plant. These differences exist mainly because of the existence of non-modeled dynamics and also the model parameters difficult to be identified. Therefore, it is essential that the control law, designed to be deployed in practice, has characteristics of strength enabling him to maintain the performance and stability. In this sense, control the structure variable is known suitable for systems with parametric uncertainties. This paper describes the kinematic and dynamic model of underwater vehicles. It also presents the development of an automatic controller position. This control is necessary in a position where you want to take the vehicle to a certain position and keep it there while performing some task. After the theoretical development, simulations are presented with the ROV (Tatuí), where it was found that the surface integral variable structure showed the best behavior. |
publishDate |
2012 |
dc.date.none.fl_str_mv |
2012-04-28 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://periodicos.furg.br/vetor/article/view/2569 |
url |
https://periodicos.furg.br/vetor/article/view/2569 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.relation.none.fl_str_mv |
https://periodicos.furg.br/vetor/article/view/2569/1385 |
dc.rights.driver.fl_str_mv |
Copyright (c) 2014 VETOR - Revista de Ciências Exatas e Engenharias info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Copyright (c) 2014 VETOR - Revista de Ciências Exatas e Engenharias |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Universidade Federal do Rio Grande |
publisher.none.fl_str_mv |
Universidade Federal do Rio Grande |
dc.source.none.fl_str_mv |
VETOR - Journal of Exact Sciences and Engineering; Vol. 21 No. 1 (2011); 110-129 VETOR - Revista de Ciências Exatas e Engenharias; v. 21 n. 1 (2011); 110-129 2358-3452 0102-7352 reponame:Vetor (Online) instname:Universidade Federal do Rio Grande (FURG) instacron:FURG |
instname_str |
Universidade Federal do Rio Grande (FURG) |
instacron_str |
FURG |
institution |
FURG |
reponame_str |
Vetor (Online) |
collection |
Vetor (Online) |
repository.name.fl_str_mv |
Vetor (Online) - Universidade Federal do Rio Grande (FURG) |
repository.mail.fl_str_mv |
gmplatt@furg.br |
_version_ |
1797041761244151808 |