Title :
The real-time expert control system for 6000 m deep towed system
Author :
Liang, Hao ; Zhang, Luyi ; Zhu, Jimao
Author_Institution :
CIMS Res. Center, Tongji Univ., Shanghai, China
Abstract :
The 6000 m deep towed system is used in exploring and exploiting manganese which is deposited in the seabed over 5000 m underwater. In the paper, the real-time expert control system is employed to deal with the movement control problems of the 6000 m deep towed system. First, the dynamic motion process of the 6000 m deep towed system is analyzed. Then, the real-time expert control system is used in depth control of the 6000 m deep towed system. Finally, the results in depth control of the 6000 m deep towed system are discussed. Compared with a PID controller, the real-time expert control system gives significant robustness to disturbances and uncertainties
Keywords :
dynamics; expert systems; finite difference methods; intelligent control; marine systems; motion control; real-time systems; robust control; spatial variables control; 6000 m; 6000 m deep towed system; PID controller; dynamic motion process; manganese deposits; movement control problems; real-time expert control system; robustness; Control systems; Equations; Manganese; Nonlinear control systems; Real time systems; Remotely operated vehicles; Robust control; Three-term control; Uncertainty; Vehicle dynamics;
Conference_Titel :
Underwater Technology, 2000. UT 00. Proceedings of the 2000 International Symposium on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-6378-7
DOI :
10.1109/UT.2000.852603
