Senior scholars and distinguished researchers are welcome to join Editorial Board of IJMERR and help organize Specil Issue on hot topics of mechanical engineering and robotics research. To propose a Special Issue, please contact us at ijmerr@ejournal.net

Motion Control System for a Remotely Operated Vehicle with Interval Parameters

Sergey A. Gayvoronskiy, Ivan V. Khozhaev, and Tatiana A. Ezangina
National Research Tomsk polytechnic university, Tomsk, Russia
Abstract—Modern underwater unmanned vehicle must operate in unpredictable conditions of water environment. This leads to a problem of motion control systems with uncertain parameters development. The paper is dedicated to development of robust motion control system for an underwater remotely operated vehicle. Several issues of developing control systems with parametric uncertainty were considered: deriving a mathematical model of an underwater remotely operated vehicle with interval parametric uncertainty, estimation of interval parameters values, developing a structure of motion control system and synthesizing a set of robust controllers, providing desired control quality in the system.

Index Terms—robust control; interval parameters; parametric synthesis; remotely operated vehicle; mathematical model

Cite:Sergey A. Gayvoronskiy, Ivan V. Khozhaev, and Tatiana A. Ezangina, "Motion Control System for a Remotely Operated Vehicle with Interval Parameters," International Journal of Mechanical Engineering and Robotics Research, Vol. 6, No. 5, pp. 378-384, September 2017. DOI: 10.18178/ijmerr.6.5.378-384
Copyright © 2016-2017 International Journal of Mechanical Engineering and Robotics Research, All Rights Reserved
E-mail: ijmerr@ejournal.net