Improving ROV Control performance with thrust identification and control

• Type: Article in International Conference Proceedings Book
• Date: 2004

Authors

Rui Manuel Ferreira Gomes (Author) FEUP; João Tasso de Figueiredo Borges de Sousa (Author) FEUP; Fernando Manuel Ferreira Lobo Pereira (Author) FEUP

Conference proceedings International

Title: Festival Nacional de Robótica : Robótica 2004

Pages: 61-67

Actas do Encontro Científico do Robótica 2004 (Proceedings of the Scientific Meeting of the Portuguese Robotics Open)

Biblioteca Almeida Garret, Palácio de Cristal, Porto, 23 a 24 de Abril de 2004

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering

Other information

Abstract (EN): The problem of improving control performance of a Remotely Operated Vehicle with thruster modelling and identification and with Thrust Allocation Logic (TAL) is discussed. This is done in the context of the developments of "IES - Inspection of Underwater Structures" project. The IES ROV is mechanically asymmetric as a result of design trade-offs intended at reducing weight and facilitating operational deployments. Experimental data from tests with this ROV shows that control design under symmetry assumptions leads to poor control performance. A significant modelling effort was required to improve control design and performance. The modelling effort is concentrated on the force system acting upon the ROV body and also on thruster characterization. The nonlinear controllers were tuned for the enhanced model parameters and a new control stage — TAL — was designed and implemented. The new integrated control design was validated experimentally.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7