Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Comparison of two sliding mode control techniques applied to a ROV vertical motion
Submission Author:
Reginaldo Cardoso , SP
Co-Authors:
Reginaldo Cardoso, Éverton Lins de Oliveira, Décio Crisol Donha
Presenter: Reginaldo Cardoso
doi://10.26678/ABCM.COBEM2019.COB2019-1641
Abstract
This paper presents the comparison of two alternative sliding mode control techniques used to control the motion of an ROV in the azimuthal plane. The first one is based in a classical method, where it is necessary to divide the multivariable system into two SISO systems, and a sliding surface is designed for each input. The other technique is based on zero allocation made by the generalization of the Ackermann’s formula. Both techniques demonstrated to be capable of tracking the desired trajectory. The multivariable control law has shown a faster convergence to zero, and both techniques presented similar control effort.
Keywords
ROV, Nonlinear control, Sliding mode control
