In this paper, a steady state model of a thruster and a general equation of rigid-body motion for an underwater robotic vehicle (URV) is presented. By means of modelling, simulation and experiments, the model parameters have been identified. These are used in the analysis and design of closed-loop stabilizing controllers for two control modes: manual cruise and station keeping. Since the URV under study has fewer actuators than possible degrees of freedom, it is necessary to limit the controllable degrees of freedom. These variables are eventually selected based on the inherent vehicle dynamics. Using the Lyapunov direct method, which has been shown to be appropriate for such nonlinear systems, appropriate stabilizing controllers have been designed. The manual cruise mode controller is nonlinear and would result in chattering in the thruster outputs, but simulations show that the desired results can be achieved. The station-keeping mode controller has a proportional-integral-derivative (PID) structure and its gain values are designed using a nonlinear optimizing approach. Simulation and swimming pool tests for the heave and yaw directions have shown that such a controller is possible.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Control of an underactuated remotely operated underwater vehicle


    Beteiligte:
    Lau, M.W.S. (Autor:in) / Swei, S.S.M. (Autor:in) / Seet, G. (Autor:in) / Low, E. (Autor:in) / Cheng, P.L. (Autor:in)


    Erscheinungsdatum :

    2003


    Format / Umfang :

    16 Seiten, 23 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    UNDERWATER REMOTELY OPERATED VEHICLE

    BOSS JOHN | Europäisches Patentamt | 2018

    Freier Zugriff

    A REMOTELY OPERATED UNDERWATER VEHICLE

    SLOVAK OLEKSANDR | Europäisches Patentamt | 2025

    Freier Zugriff

    REMOTELY OPERATED UNMANNED UNDERWATER VEHICLE

    KULMUKHAMETOV RUSLAN RADIKOVICH / GAFUROV SALIMZHAN AZATOVICH / AKBIROV RINAT MARATOVICH | Europäisches Patentamt | 2022

    Freier Zugriff

    Remotely Operated Underwater Vehicle (ROV)

    K, Jothikrishna / S M, Rithika / S V, Swetha et al. | IEEE | 2023


    Navigation of Underwater Remotely Operated Vehicle

    Wyawahare, Amogh / Tiwari, Vaishnavi / Pagire, Vrushali | IEEE | 2022