Integrated maneuver and control design for ROV operations

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

Authors

Rui Gomes (Author) FEUP; João Tasso Sousa (Author) FEUP; Fernando Lobo Pereira (Author) FEUP

Conference proceedings International

Title: OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE

Pages: 703-710

MTS/IEEE Conference on Celebrating the Past - Teaming Toward the Future

San Diego, CA, SEP 22-26, 2003

Indexing

ISI Web of Knowledge - 4 Citations

ISI Web of Science

Scopus - 11 Citations

Scientific classification

FOS: Engineering and technology

CORDIS: Technological sciences

Other information

Authenticus ID: P-000-K8G

DOI: 10.1109/oceans.2003.178396

Abstract (EN): The integrated maneuver and control structures for a Remotely Operated Vehicle are presented in the context of the developments of "IES - Inspection of Underwater Structures" project. The project concerns the design and implementation of an advanced low cost system for the inspection of underwater structures based on a Remotely Operated Vehicle (ROV). First, the sub-systems of the IES system are described. Second, an example of a mission is outlined. Third, the control architecture is briefly sketched and formalized. Fourth, the design of the regulation and tracking controllers for this architecture are discussed. The design uses a non-linear Dynamic Surface Controller (DSC). This controller is coupled with a trajectory generation system for optimal performance. The ROV model is differentially flat under mild assumptions. The trajectory generation system uses this property to produce optimal trajectories. Finally, simulation runs of DSC and PID are compared in light of model parameters uncertainty. Extensions of the work are discussed as conclusions.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8