Basic research on underwater docking of flexible structures

Author

Watanabe, Keisuke ; Suzuki, Hideyuki ; Tao, Qi ; Toshida, K.

Author_Institution

Tokai Univ., Shizuoka, Japan

Volume

1

fYear

1998

Firstpage

458

Abstract

Deals with basic research on underwater docking of flexible underwater structures using an active control system. The actively controlled underwater docking has such potentials on the installation or construction of underwater structures at deep water depth that the structures can be installed precisely on the desired point of seabed. For very large structure automated construction, it can be possible to assemble the onshore fabricated partitioned structures on site. In the paper, the H^∞ controller is used for flexible structural control to avoid spillovers. Basin tests were executed using two types of neutrally buoyant flexible models with ultrasound ranging system and thrusters

Keywords

H^∞ control; control system synthesis; dynamics; flexible structures; marine systems; motion control; H^∞ controller; active control system; basin tests; deep water depth; flexible structures; neutrally buoyant flexible models; structural control; underwater docking; underwater structures; Assembly; Automatic control; Control systems; Cranes; Flexible structures; System testing; Target tracking; Trajectory; Ultrasonic imaging; Underwater structures;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677016

Filename

677016