DocumentCode
2325496
Title
Control of an underwater robot system connected to a ship by a slender marine structure
Author
Schjolberg, Ingrid ; Egeland, Olav
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
fYear
1996
fDate
15-18 Sep 1996
Firstpage
43
Lastpage
48
Abstract
This paper describes the dynamics of a system consisting of a robot system connected to a surface vessel by means of a marine cable, riser or other similar slender marine structure. Only motion in the lateral direction has been considered. A control system is presented for position and velocity control of the robot system. The stability of the control system is analyzed using Lyapunov theory, and the closed loop system is shown to be globally asymptotically stable and robust to environmental disturbances
Keywords
marine systems; Lyapunov method; asymptotic stability; closed loop system; dynamics; motion control; position control; ship; underwater robot system; velocity control; vibration control; Asymptotic stability; Closed loop systems; Control system analysis; Control systems; Marine vehicles; Robots; Robust stability; Stability analysis; Underwater cables; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location
Dearborn, MI
Print_ISBN
0-7803-2975-9
Type
conf
DOI
10.1109/CCA.1996.558602
Filename
558602
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