A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents

A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents

A nonlinear observer for a remotely operated vehicle (ROV) is investigated, and a four-degree-of-freedom nonlinear sliding state observer is designed in this study. An ocean current model and a simplified umbilical cable disturbing force model of ROVs were set up; the simplified cable force model ch...

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Main Authors: Xiang Li, Min Zhao, Tong Ge
Format: Article
Language:English
Published: MDPI AG 2018-05-01
Series:Applied Sciences
Subjects:
remotely operated vehicle
ocean current
cable disturbance modeling
lumped parameter method
sliding mode observer
Online Access:http://www.mdpi.com/2076-3417/8/6/867
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spelling doaj-511f881b0ba64340909de1840f273ea72020-11-24T22:20:15ZengMDPI AGApplied Sciences2076-34172018-05-018686710.3390/app8060867app8060867A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean CurrentsXiang Li0Min Zhao1Tong Ge2State Key Laboratory of Ocean Engineering, Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, ChinaState Key Laboratory of Ocean Engineering, Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, ChinaState Key Laboratory of Ocean Engineering, Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, ChinaA nonlinear observer for a remotely operated vehicle (ROV) is investigated, and a four-degree-of-freedom nonlinear sliding state observer is designed in this study. An ocean current model and a simplified umbilical cable disturbing force model of ROVs were set up; the simplified cable force model characterized the cable disturbing force. The velocity information and the cable force were observed and estimated both online and in real time. We proved that the observation error was uniformly ultimately bounded. The modeling of the disturbing force and the compensation for the observer was an effective method to improve the observation precision and to reduce the chattering of the observer outputs.http://www.mdpi.com/2076-3417/8/6/867remotely operated vehicleocean currentcable disturbance modelinglumped parameter methodsliding mode observer
collection DOAJ
language English
format Article
sources DOAJ
author Xiang Li
Min Zhao
Tong Ge
spellingShingle Xiang Li
Min Zhao
Tong Ge
A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents
Applied Sciences
remotely operated vehicle
ocean current
cable disturbance modeling
lumped parameter method
sliding mode observer
author_facet Xiang Li
Min Zhao
Tong Ge
author_sort Xiang Li
title A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents
title_short A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents
title_full A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents
title_fullStr A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents
title_full_unstemmed A Nonlinear Observer for Remotely Operated Vehicles with Cable Effect in Ocean Currents
title_sort nonlinear observer for remotely operated vehicles with cable effect in ocean currents
publisher MDPI AG
series Applied Sciences
issn 2076-3417
publishDate 2018-05-01
description A nonlinear observer for a remotely operated vehicle (ROV) is investigated, and a four-degree-of-freedom nonlinear sliding state observer is designed in this study. An ocean current model and a simplified umbilical cable disturbing force model of ROVs were set up; the simplified cable force model characterized the cable disturbing force. The velocity information and the cable force were observed and estimated both online and in real time. We proved that the observation error was uniformly ultimately bounded. The modeling of the disturbing force and the compensation for the observer was an effective method to improve the observation precision and to reduce the chattering of the observer outputs.
topic remotely operated vehicle
ocean current
cable disturbance modeling
lumped parameter method
sliding mode observer
url http://www.mdpi.com/2076-3417/8/6/867
work_keys_str_mv AT xiangli anonlinearobserverforremotelyoperatedvehicleswithcableeffectinoceancurrents
AT minzhao anonlinearobserverforremotelyoperatedvehicleswithcableeffectinoceancurrents
AT tongge anonlinearobserverforremotelyoperatedvehicleswithcableeffectinoceancurrents
AT xiangli nonlinearobserverforremotelyoperatedvehicleswithcableeffectinoceancurrents
AT minzhao nonlinearobserverforremotelyoperatedvehicleswithcableeffectinoceancurrents
AT tongge nonlinearobserverforremotelyoperatedvehicleswithcableeffectinoceancurrents
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