Title :
A robust ROV positioning controller
Author :
Liceaga, E. ; Grimble, M.J.
Author_Institution :
Ind. Control Centre, Strathclyde Univ., Glasgow, UK
Abstract :
The design of a positioning control system for a remotely operated vehicle (ROV) subject to environment disturbances is discussed. At hover conditions ROVs can be represented by a linear system and at deep submergence disturbance free. Nevertheless, if ROVs operate at shallow submergence, they are subject to severe wave disturbances. The design of ROVs positioning controllers, according to generalized Hinfinity , is described considering a linear version of the Pierson-Moskowitz wave model. The design procedure is described using the model of the ANGUS 003, developed at Heriot-Watt University, Edinburgh, Scotland.
Keywords :
control system synthesis; marine systems; optimal control; position control; stability; telecontrol; ANGUS 003; Heriot-Watt University; Pierson-Moskowitz wave model; deep submergence; environment disturbances; generalized H infinity ; hover conditions; linear system; remotely operated vehicle; robust ROV positioning controller; wave disturbances;
Conference_Titel :
Control, 1994. Control '94. International Conference on
Conference_Location :
Coventry, UK
Print_ISBN :
0-85296-610-5
DOI :
10.1049/cp:19940374
