Feedback Linearization Controllers for ROV Depth Control
Marcella P. Lazar1; José Everardo Bessa Maia2
1 Universidade de Fortaleza; 2 Universidade Estadual do Ceará
Resumo
The nonlinear differential equation describing the depth dynamics of remotely operated underwater vehicles (ROV) is linearized by feedback and linear controllers are developed and evaluated by a realistic simulation. Considering two important performance criteria for depth control of ROVs, which are overshoot and settling time, the experiments show satisfactory performance for these controllers. However, some drawbacks are recorded which can drive new controller design approaches.