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Lyapunov-based switching control using neural networks for a remotely operated vehicle
No full textThis paper considers the tracking control problem of an underwater vehicle subjected to different load configurations, which from time to time introduce considerable variations of its mass and inertial parameters. The control of this kind of mode-switch process cannot be adequately faced with traditional adaptive control techniques because of the too long time needed for adaptation. To cope with this problem, a switching control scheme is proposed and the stability of this multi-controller system is analysed using the Lyapunov theory. The performance of the switched controller is evaluated by numerical simulations
Intelligent control for a remotely operated vehicle
No full textThis article considers the tracking control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great sea depths. The vehicle is subjected to different load configurations that introduce considerable variations of its mass and inertial parameters. In this work it is assumed that the possible vehicle configurations are known, but the time instants when the changes occur and the new vehicle configuration following the change are unknown. A neural network-based switching control is proposed for the considered mode-switch process. This solution simplifies the control scheme implementation and reduces the control signal chattering
A comparative study between switching and adaptive controllers for a remotely operated vehicle
No full textThis paper considers the tracking control problem of an underwater vehicle subject to different load configurations, that result in considerable variations of its mass and inertial parameters. For this class of mode-switch processes, traditional control techniques are not adequate to guarantee the required performance when a change of configuration occurs. Advanced control techniques have been analysed; a switching control and an adaptive control have been developed with the aim to compare the performance of these types of controllers. The stability of the two controllers has been analysed using the Lyapunov theory and their performance has been evaluated by numerical simulations. On the basis of numerical tests, when an adequate a priori knowledge of different vehicle configurations is available, the switching controller is found to be the better control strategy with respect to an adaptive solution because of its significantly reduced transient response
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