Title :
Dynamic positioning of remotely operated underwater vehicles
Author :
Hsu, L. ; Costa, Ramon R. ; Lizarralde, Fernando ; Cunha, José Paulo Vilela Soares Da
Author_Institution :
Dept. of Electr. Eng., COPPE/Federal Univ. of Rio janeiro, Brazil
fDate :
9/1/2000 12:00:00 AM
Abstract :
The paper describes an automatic dynamic positioning system for remotely operated underwater vehicles (ROVs) using a mechanical passive arm for position measurement that is suitable for inspection and intervention tasks requiring precise positioning. Good dynamic performance in tracking was also attained, particularly with the variable structure model reference adaptive control strategy
Keywords :
adaptive control; model reference adaptive control systems; position control; tracking; underwater vehicles; variable structure systems; ROV; dynamic positioning system; mechanical passive arm; model reference adaptive control; remotely operated vehicles; tracking; underwater vehicles; variable structure systems; Costs; Humans; Manipulator dynamics; Navigation; Nonlinear dynamical systems; Remotely operated vehicles; Signal processing algorithms; Sonar; Underwater vehicles; Vehicle dynamics;
Journal_Title :
Robotics & Automation Magazine, IEEE
