Modeling and control of the IES project ROV

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.