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https://hdl.handle.net/10216/115932| Author(s): | Rui Manuel Ferreira Gomes João Tasso de Figueiredo Borges de Sousa Fernando Manuel Ferreira Lobo Pereira |
| Title: | Improving ROV Control performance with thrust identification and control |
| Issue Date: | 2004 |
| Abstract: | The problem of improving control performance of a Remotely Operated Vehicle with thruster modelling and identification and with Thrust Allocation Logic (TAL) is discussed. This is done in the context of the developments of "IES - Inspection of Underwater Structures" project. The IES ROV is mechanically asymmetric as a result of design trade-offs intended at reducing weight and facilitating operational deployments. Experimental data from tests with this ROV shows that control design under symmetry assumptions leads to poor control performance. A significant modelling effort was required to improve control design and performance. The modelling effort is concentrated on the force system acting upon the ROV body and also on thruster characterization. The nonlinear controllers were tuned for the enhanced model parameters and a new control stage - TAL - was designed and implemented. The new integrated control design was validated experimentally. |
| 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 |
| URI: | https://hdl.handle.net/10216/115932 |
| Source: | Festival Nacional de Robótica : Robótica 2004 |
| 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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