[Show abstract][Hide abstract] ABSTRACT: Maintenance of the quality of the railway track is crucial forthe safety and comfort of passengers on high-speed trains. We believe itis possible to detect deterioration of the track by constant monitoringthe dynamic vehicle response to track features. Our project is workedout in close cooperation with Deutsche Bahn AG (German Rail).
[Show abstract][Hide abstract] ABSTRACT: The controlled motion of an underwater vehicle is very likely to be affected by arbitrary disturbances with considerable magnitudes. In this paper, we develop a simple approach for optimal robust control design of underwater robotic vehicles having decentralized input-output structure. Our design method is based on an explicit condition on the control input matrix which has been found to be necessary and sufficient for a decentralized control system to be robust against arbitrary, but otherwise, bounded disturbances. That makes it possible to get optimal trade-off relations between the bounds of disturbances, the system output accuracy, and the control force limits. For the robust control design purpose, we apply decentralized sliding-mode control the stability of which can be easily verified using Lyapunov theory. In order to show the effectiveness of the design method, the controlled planar motion of an underwater robotic vehicle is taken as an illustrative example.
Robotics and Autonomous Systems 10/1997; 21(4-21):415-423. DOI:10.1016/S0921-8890(97)00031-6 · 1.26 Impact Factor
[Show abstract][Hide abstract] ABSTRACT: The major problems encountered in the development of control systems for remotely operated underwater vehicles (ROV) are analyzed. The modeling of the hydrodynamic effects on the vehicle itself and on the umbilical cable is discussed. A robust control based on “sliding modes” is used and the sensor systems that can be employed are presented. Experiments with an underwater double pendulum and with a small, laboratory size, vehicle are used to check the simulation results.