Title :
Basic research on underwater docking of flexible structures
Author :
Watanabe, Keisuke ; Suzuki, Hideyuki ; Tao, Qi ; Toshida, K.
Author_Institution :
Tokai Univ., Shizuoka, Japan
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;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677016
