RESEARCH PAPERS: Offshore Mechanics

Robust Self-Designing Controllers for Underwater Vehicles

[+] Author and Article Information
K. R. Goheen, E. R. Jefferys, D. R. Broome

Department of Mechanical Engineering, University College London, London, U.K.

J. Offshore Mech. Arct. Eng 109(2), 170-178 (May 01, 1987) (9 pages) doi:10.1115/1.3257006 History: Received October 24, 1986; Online October 30, 2009


Conventional multivariable and adaptive controllers are hard to design for Remotely Operated Underwater Vehicles (ROVs) because their dynamics are strongly coupled, highly nonlinear and vary according to the vessel’s operating configuration. An alternative design procedure which combines some of the ideas of adaptive and robust control is based on a “self-test” which the vehicle can be programmed to execute autonomously. The resulting controller is evaluated by examining its closed-loop poles, responses to step changes in reference inputs and rejection of disturbances caused by turbulence.

Copyright © 1987 by ASME
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In