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

• Main Author: Chin, Cheng Siong
• Other Authors: Lau Wai Shing, Michael
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: https://hdl.handle.net/10356/14583
• Institution: 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...