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hosseinnajad A, Loueipour M. Design of Dynamic Positioning Control System for an ROV with Unknown Dynamics Using Modified Time Delay Estimation. ijmt 2019; 11 :53-59
URL: http://ijmt.ir/article-1-650-en.html
Design of Dynamic Positioning Control System for an ROV with Unknown Dynamics Using Modified Time Delay Estimation
Alireza Hosseinnajad1 , Mehdi Loueipour * 2
1- Department of Mechanical Engineering, Isfahan University of Technology
2- Research Institute for Subsea Science and Technology, Isfahan University of Technology
Abstract:   (5394 Views)
In this paper, a control system is designed for dynamic positioning of an ROV with unknown dynamics, subject to external disturbances using passive arm measurements. To estimate uncertain dynamics and external disturbances, a new method based on time delay estimation (TDE) is proposed. The proposed TDE, not only maintains the advantages of conventional TDE, but also eliminates its sensitivity to sensor noise and fast-varying external disturbances which in turn, results in smooth control signal. The proposed control system is considered as a nonlinear PD-type controller together with feedforward of estimated dynamics and disturbances. This structure presents good performance against uncertainties and external disturbances which is guaranteed via stability analysis presented. To evaluate the performance of proposed TDE, simulations are conducted and comparison are made with conventional TDE. Besides, the performance of the proposed control system is compared with conventional time delay controller (TDC) and PID controller to verify its performance. Simulations show high accuracy and superior performance of the proposed control system.
Keywords: Dynamic Positioning, Passive Arm, ROV, Time Delay Estimation, Unknown Dynamics.
Full-Text [PDF 1099 kb]   (1773 Downloads)    
Type of Study: Research Paper | Subject: Submarine Hydrodynamic & Design
Received: 2018/10/31 | Accepted: 2019/05/29
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