A study of robust multivariable control designs for remotelyoperated vehicle depth control systems

摘要

This paper compares the results of four robust multivariablendesign techniques applied to the depth control of a nonlinear RemotelynOperated Vehicle (ROV) subjected to parameter perturbations. Threennonlinear control techniques, namely, input-output(i/o) linearizationncontrol, input-output linearization control with sliding mode controlnand input-output linearization control with adaptive fuzzy control arenstudied. The fourth technique is the H_∞ loop shapingndesign procedure using multiobjective optimization for the simultaneousndesign of robust stability and performance