Title :
Identification and control of the Phantom 500 body motion
Author :
Folcher, Jean-Pierre ; Rendas, Maria-João
Author_Institution :
Lab. d´´Inf., Signaux et Systemes de Sophia Antipolis, France
Abstract :
Addresses the identification and the control of the vertical motion of the ROV Phantom. The problems are split in two decoupled problems.: the propeller motion and the diving motion. A maximum likelihood based identification method is used for each dynamic model. The design of the inner and outer controllers is based on the classical root locus method. Numerical experiments demonstrate that the designed controllers yield satisfactory results in terms of stability, tracking performance and robustness
Keywords :
closed loop systems; control system synthesis; discrete time systems; maximum likelihood estimation; motion control; remotely operated vehicles; root loci; transfer functions; two-term control; underwater vehicles; Phantom 500; ROV; body motion; classical root locus method; control system synthesis; discrete time systems; diving motion; dynamic model; identification; inner controllers; maximum likelihood based identification method; outer controllers; propeller motion; remotely operated vehicle; robustness; stability; tracking performance; transfer functions; underwater vehicles; vertical motion control; Control systems; DC motors; Imaging phantoms; Motion control; Navigation; Propellers; Pulse width modulation; Remotely operated vehicles; Sea surface; Vehicle dynamics;
Conference_Titel :
OCEANS, 2001. MTS/IEEE Conference and Exhibition
Conference_Location :
Honolulu, HI
Print_ISBN :
0-933957-28-9
DOI :
10.1109/OCEANS.2001.968777
