A discrete adaptive variable-structure controller for MIMO systems, and its application to an underwater ROV
A discrete adaptive variable-structure controller for MIMO systems, and its application to an underwater ROV
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DOI：
10.1109/87.572131
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发表时间：
1997-05
期刊：
影响因子：
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通讯作者：
M. Corradini;Giuseppe Orlando-
中科院分区：
文献类型：
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作者：
M. Corradini;Giuseppe Orlando-
研究了多输入多输出(MIMO)系统的离散变结构控制问题。针对单输入单输出(SISO)系统，给出了两种控制算法，并推广到作者(1995)提出的多变量情况下的第二种控制方法。这两种方法都由级联到广义最小方差控制器的变结构控制律组成。前一种算法指的是一个完全已知的系统，而后一种算法是为处理对象中的参数不确定性而设计的。在这种情况下，考虑了与MIMO在线参数估计器的连接。给出了所提出的控制律的收敛证明。将所提出的算法应用于大水深可燃气体开采水下遥控潜水器的位姿控制问题。用非线性微分方程组对ROV进行建模，通过仿真验证了所获得的性能。对结果进行了讨论，并与最近的文献进行了比较。
This paper addresses discrete-time variable structure control for multiple input-multiple output (MIMO) systems. Two control algorithms are presented, obtained extending to the multivariable case two control techniques previously proposed by the authors (1995) for single input-single output (SISO) systems. Both techniques consist of variable structure control laws cascaded to a generalized minimum variance controller. The former algorithm refers to a completely known system, while the latter has been designed to deal with parameter uncertainties in the plant. In this case, the connection with a MIMO online parameter estimator has been considered. Proofs are provided about the convergence of the proposed control laws. The presented algorithms have been applied to the problem of position and orientation control of an underwater remotely operated vehicle (ROV) used in the exploitation of combustible gas deposits at great water depths. Resulting performances have been tested by simulation, modeling the ROV with a nonlinear differential equations system. Results have been discussed and compared with recent literature.