A dynamic model of a remotely operated vehicle(ROV)is *** hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX?and WAMIT?.A sliding-mode c...
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A dynamic model of a remotely operated vehicle(ROV)is *** hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX?and WAMIT?.A sliding-mode controller(SMC)is then designed for the ROV *** controller is subsequently robustified against modeling uncertainties,disturbances,and measurement *** is shown that when the system is subjected to bounded uncertainties,the SMC will preserve stability and tracking *** paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.
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