Consider the problem of decoupling the effect of the umbilical's traction from the position of a ROV by means of feedback. The problem is first studied with respect to a linearized model of the ROV. Geometric methods show that exact decoupling is not possible, while approximate decoupling can be achieved by means of high-gain feedbacks. The relations with an H/sub /spl infin// approach to the same problem are discussed and the effectiveness of the design methodology with respect to the nonlinear model is shown by means of simulations.
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机译：考虑通过反馈通过反馈解耦脐带牵引效果的问题。首先对ROV的线性化模型进行了问题。几何方法表明，不可能进行精确的去耦，而通过高增益反馈可以实现近似解耦。讨论了与同一问题的H / sub / SPL INFIN //接近的关系，并且通过模拟示出了对非线性模型的设计方法的有效性。
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