Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Application of SDRE control to Hybrid Remotely Operated Vehicle
Submission Author:
Allan Oliveira , SP
Co-Authors:
Allan Oliveira, Reginaldo Cardoso, Décio Crisol Donha, Magno Enrique Mendoza Meza
Presenter: Allan Oliveira
doi://10.26678/ABCM.COBEM2021.COB2021-0395
Abstract
This paper presents a nonlinear dynamic model of a Hybrid Remotely Operated Vehicle described in the inertial frame, together with the control design based on the State-Dependent Riccati Equation method. Facing the mismatch that appears as a result of the extended linearization procedure of the vehicle dynamic, more specifically associated with the restoring force and moment vector, it is suggested to overcome this problem through the addition of a nonlinear compensator, which is calculated by the same weighting parameters assigned to the state error and control input. The designed controller is used in two scenarios: to drive the vehicle to the desired position and to perform a spiral movement, both with manually adjusted gains, each of them analyzed in the presence and absence of the disturbance vector. The proposed control responded appropriately to the selected tasks.
Keywords
HROV, Underwater robot, Nonlinear dynamic model, State-Dependent Riccati Equation (SDRE)
