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dc.contributor.authorOhrem, Sveinung Johan
dc.contributor.authorAmundsen, Herman Biørn
dc.contributor.authorCaharija, Walter
dc.contributor.authorHolden, Christian
dc.date.accessioned2022-08-09T10:22:32Z
dc.date.available2022-08-09T10:22:32Z
dc.date.created2022-08-05T14:45:09Z
dc.date.issued2022
dc.identifier.citationControl Engineering Practice, 2022, 127, 1-17en_US
dc.identifier.issn0967-0661
dc.identifier.urihttps://hdl.handle.net/11250/3010757
dc.description.abstractDynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, operating in environments with unpredictable disturbances, such as an aquaculture net cage. The proposed controller combines the backstepping approach with an adaptation term to ensure robustness. Using Lyapunov theory and Matrosov’s theorem the origin of the closed-loop system is proven to be: (i) globally asymptotically stable when assuming persistency of excitation, and (ii) stable and bounded, with the true position converging to the desired position if there is no persistency of excitation. This paper also presents results from simulations where the proposed controller is contextualized and compared to similar controllers, showing promising results. Finally, as the main result of the manuscript that demonstrates the effectiveness of the proposed control law, an extensive field trial campaign is conducted at a full-scale aquaculture site using an industrial ROV where the proposed controller is successfully tested under realistic operational conditions.en_US
dc.language.isoengen_US
dc.publisherElsevieren_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.subjectMatrosov’s theoremen_US
dc.subjectDynamic positioningen_US
dc.subjectAquacultureen_US
dc.subjectRemotely operated vehicleen_US
dc.subjectAdaptive controlen_US
dc.titleRobust adaptive backstepping DP control of ROVsen_US
dc.title.alternativeRobust adaptive backstepping DP control of ROVsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.rights.holder© 2022 The Author(s). Published by Elsevier Ltd.en_US
dc.source.pagenumber17en_US
dc.source.volume127en_US
dc.source.journalControl Engineering Practiceen_US
dc.identifier.doi10.1016/j.conengprac.2022.105282
dc.identifier.cristin2041393
dc.relation.projectNorges forskningsråd: 237790en_US
dc.source.articlenumber105282en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal