Modeling and control of the IES project ROV

• Type: Article in International Conference Proceedings Book
• Date: 2003

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: European Control Conference, ECC 2003

Pages: 3424-3429

2003 European Control Conference, ECC 2003

1 September 2003 through 4 September 2003

Indexing

Scopus - 13 Citations

Scientific classification

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

CORDIS: Technological sciences > Engineering > Control engineering

Other information

Authenticus ID: P-00G-5N9

DOI: 10.23919/ecc.2003.7086570

Abstract (EN): This paper describes the modeling and control of a Remotely Operate Vehicle (ROV), as part of the effort performed in the context of the Inspection of Underwater Structures (IES) project. The main objective of IES is the implementation of a ROV-based system for the inspection of underwater structures. The IES project is a 3 yearlong effort funded by the Portuguese R&D program Praxis XXI. After addressing the complete model, including the body model and the thruster model, we present the design of a nonlinear controller based on the Sliding Modes methodology, which allow the vehicle to move according to the application requirements. PID controllers were also used in order to compare both performances. © 2003 EUCA.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6