Modeling and control of the IES project ROV

• Autor(a) principal: Rui Manuel Ferreira Gomes
• Data de Publicação: 2003
• Outros Autores: João Tasso de Figueiredo Borges de Sousa, Fernando Manuel Ferreira Lobo Pereira
• Tipo de documento: Livro
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: https://repositorio-aberto.up.pt/handle/10216/115919
• topic: Engenharia de controlo, Engenharia electrotécnica, electrónica e informática; Control engineering, Electrical engineering, Electronic engineering, Information engineering

This paper describes the modeling and control of a Remotely Operate Vehicle (ROV), as part of the effort performed in the context of the Inspection of Underwater Structures (IES) project. The main objective of IES is the implementation of a ROV-based system for the inspection of underwater structures. The IES project is a 3 yearlong effort funded by the Portuguese R&D program Praxis XXI. After addressing the complete model, including the body model and the thruster model, we present the design of a nonlinear controller based on the Sliding Modes methodology, which allow the vehicle to move according to the application requirements. PID controllers were also used in order to compare both performances. © 2003 EUCA.