Robust control of an underwater ROV in the presence of nonsmooth nonlinearities in the actuators

Abstract In this note a control law dealing with actuator nonlinearities is applied to the position and orientation control of a Remotely Operated Vehicle (ROV) employed by the Italian Company Snamprogetti. The proposed control law is based on sliding mode control, and guarantees robustness with respect uncertainties present both in the ROV model and in the nonlinearity considered. In order to test the effectiveness of the proposed control law, simulation results are being performed.

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