DocumentCode
2131101
Title
A robust ROV positioning controller
Author
Liceaga, E. ; Grimble, M.J.
Author_Institution
Ind. Control Centre, Strathclyde Univ., Glasgow, UK
Volume
2
fYear
1994
fDate
21-24 March 1994
Firstpage
1584
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;
fLanguage
English
Publisher
iet
Conference_Titel
Control, 1994. Control '94. International Conference on
Conference_Location
Coventry, UK
Print_ISBN
0-85296-610-5
Type
conf
DOI
10.1049/cp:19940374
Filename
327249
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