• DocumentCode
    1394856
  • Title

    Dynamic positioning of remotely operated underwater vehicles

  • Author

    Hsu, L. ; Costa, Ramon R. ; Lizarralde, Fernando ; Cunha, José Paulo Vilela Soares Da

  • Author_Institution
    Dept. of Electr. Eng., COPPE/Federal Univ. of Rio janeiro, Brazil
  • Volume
    7
  • Issue
    3
  • fYear
    2000
  • fDate
    9/1/2000 12:00:00 AM
  • Firstpage
    21
  • Lastpage
    31
  • Abstract
    The paper describes an automatic dynamic positioning system for remotely operated underwater vehicles (ROVs) using a mechanical passive arm for position measurement that is suitable for inspection and intervention tasks requiring precise positioning. Good dynamic performance in tracking was also attained, particularly with the variable structure model reference adaptive control strategy
  • Keywords
    adaptive control; model reference adaptive control systems; position control; tracking; underwater vehicles; variable structure systems; ROV; dynamic positioning system; mechanical passive arm; model reference adaptive control; remotely operated vehicles; tracking; underwater vehicles; variable structure systems; Costs; Humans; Manipulator dynamics; Navigation; Nonlinear dynamical systems; Remotely operated vehicles; Signal processing algorithms; Sonar; Underwater vehicles; Vehicle dynamics;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/100.876908
  • Filename
    876908
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1394856