Cascaded switching supervisory control of nonlinear underwater robotic vehicle for pipeline tracking

• المؤلف الرئيسي: Chin, Cheng Siong
• مؤلفون آخرون: Lau Wai Shing, Michael
• التنسيق: Theses and Dissertations
• اللغة: English
• منشور في: 2009
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/14583
• المؤسسة: Nanyang Technological University

In recent years, remotely operated vehicles (ROV) have experienced tremendous growth in underwater pipeline inspections where human diving is impractical. However, the ROV stabilization and pipeline tracking applications present several difficulties due to its inherent nonlinear state coupling, mode...