Title :
Control of an underwater robot system connected to a ship by a slender marine structure
Author :
Schjolberg, Ingrid ; Egeland, Olav
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
This paper describes the dynamics of a system consisting of a robot system connected to a surface vessel by means of a marine cable, riser or other similar slender marine structure. Only motion in the lateral direction has been considered. A control system is presented for position and velocity control of the robot system. The stability of the control system is analyzed using Lyapunov theory, and the closed loop system is shown to be globally asymptotically stable and robust to environmental disturbances
Keywords :
marine systems; Lyapunov method; asymptotic stability; closed loop system; dynamics; motion control; position control; ship; underwater robot system; velocity control; vibration control; Asymptotic stability; Closed loop systems; Control system analysis; Control systems; Marine vehicles; Robots; Robust stability; Stability analysis; Underwater cables; Velocity control;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558602
