Modeling and control of the IES project ROV

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2003

Autores

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

Ata de Conferência Internacional

Título: European Control Conference, ECC 2003

Páginas: 3424-3429

2003 European Control Conference, ECC 2003

1 September 2003 through 4 September 2003

Indexação

Scopus - 13 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

CORDIS: Ciências Tecnológicas > Engenharia > Engenharia de controlo

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6