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https://hdl.handle.net/10216/115919| Author(s): | Rui Manuel Ferreira Gomes João Tasso de Figueiredo Borges de Sousa Fernando Manuel Ferreira Lobo Pereira |
| Title: | Modeling and control of the IES project ROV |
| Issue Date: | 2003 |
| Abstract: | 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. (c) 2003 EUCA. |
| Subject: | Engenharia de controlo, Engenharia electrotécnica, electrónica e informática Control engineering, Electrical engineering, Electronic engineering, Information engineering |
| Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
| DOI: | 10.23919/ecc.2003.7086570 |
| URI: | https://hdl.handle.net/10216/115919 |
| Source: | European Control Conference, ECC 2003 |
| Document Type: | Artigo em Livro de Atas de Conferência Internacional |
| Rights: | openAccess |
| Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
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