Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/115948
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dc.creatorRui Gomes
dc.creatorJoão Tasso Sousa
dc.creatorFernando Lobo Pereira
dc.date.accessioned2019-02-02T00:43:15Z-
dc.date.available2019-02-02T00:43:15Z-
dc.date.issued2003
dc.identifier.othersigarra:68147
dc.identifier.urihttps://repositorio-aberto.up.pt/handle/10216/115948-
dc.description.abstractThe 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.
dc.language.isoeng
dc.relation.ispartofOCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE
dc.rightsopenAccess
dc.subjectCiências Tecnológicas, Ciências da engenharia e tecnologias
dc.subjectTechnological sciences, Engineering and technology
dc.titleIntegrated maneuver and control design for ROV operations
dc.typeArtigo em Livro de Atas de Conferência Internacional
dc.contributor.uportoFaculdade de Engenharia
dc.identifier.doi10.1109/oceans.2003.178396
dc.identifier.authenticusP-000-K8G
dc.subject.fosCiências da engenharia e tecnologias
dc.subject.fosEngineering and technology
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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