• English
    • norsk
  • English 
    • English
    • norsk
  • Login
View Item 
  •   All institutions
  • Norges teknisk-naturvitenskapelige universitet
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   All institutions
  • Norges teknisk-naturvitenskapelige universitet
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Full-Scale Sea Trials of a Motion Control System for ROVs Based on a High-Gain State Observer

Fernandes, Daniel de Almeida; Sørensen, Asgeir Johan; Donha, Décio Crisol
Journal article
Submitted version
Thumbnail
View/Open
paper+DAF+IFAC+WC+2014.pdf (433.6Kb)
Permanent link
http://hdl.handle.net/11250/2468561
Issue date
2014
Share
Metadata
Show full item record
Collections
  • Publikasjoner fra CRIStin - NTNU [7640]
  • Institutt for marin teknikk [1419]
Original version
10.3182/20140824-6-ZA-1003.02026
Abstract
This paper reports selected results from full-scale sea trials, along with the description of the digital version implemented in practice, of a Motion Control System (MCS) previously proposed by the authors in the continuous-time domain, which has station keeping, i.e. dynamic positioning, and trajectory tracking capabilities for navigating observation class Remotely Operated Vehicles (ROV) used to carry out automated high-resolution image capturing missions, e.g. assessments, inspections, mappings, and surveys. Such capabilities are a key feature to enable the end-users of the ROV technology to acquire sequential high-quality images at proper pace to construct consistent representations of the objects or of the environments of interest. Four degrees-of-freedom are controlled, namely surge, sway, heave, and yaw. The MCS consists of an output feedback control system based on a high-gain state observer and a MIMO PID controller aided by reference feedforward. Feedback linearisation of the plant dynamics is also performed by the MCS. Satisfactory performance for suitable and sufficiently smooth reference trajectories are attained despite the presence of unmodelled dynamics, plant parameter variations, measurement noise, and environmental disturbances.
Publisher
Elsevier

Contact Us

Search NORA
Powered by DSpace software

Service from BIBSYS
 

 

Browse this CollectionIssue DateAuthorsTitlesSubjectsDocument TypesJournalsBrowse all ArchivesArchives & CollectionsIssue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

Google Analytics StatisticsView Usage Statistics

Contact Us

Search NORA
Powered by DSpace software

Service from BIBSYS