Title :
Passive arm based dynamic positioning system for remotely operated underwater vehicles
Author :
Hsu, Liu ; Costa, Ramon R. ; Lizarralde, Fernando ; Da Cunha, José Paulo Vilela Soares
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Brazil
Abstract :
Describes the development and implementation of a dynamic positioning system for remotely operated underwater vehicles (ROVs) which is based on a mechanical passive arm (PA) for position measurement. The system, named DPSROV, is suited for tasks which require precise positioning within a limited range around a working site. The DPSROV was configured aiming at easy installation in most commercially available ROVs. The effectiveness of the DPSROV was tested on real ROVs. Two different control strategies were adopted: a conventional linear controller and a robust variable structure model-reference adaptive control. Experimental results are presented to illustrate the DPSROV performance
Keywords :
manipulators; model reference adaptive control systems; position control; position measurement; remotely operated vehicles; underwater vehicles; linear controller; mechanical passive arm; passive arm based dynamic positioning system; remotely operated underwater vehicles; robust variable structure model-reference adaptive control; Adaptive control; Hardware; Magnets; Manipulator dynamics; Position measurement; Remotely operated vehicles; Testing; Underwater structures; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770012
