Controlling the position of a remotely operated underwater vehicle

被引：9
|
作者：
Kreuzer, E
Pinto, FC
机构：
[1] Technical University Hamburg-Harburg, Ocean Engineering Section II, D-21073 Hamburg
来源：
APPLIED MATHEMATICS AND COMPUTATION | 1996年 / 78卷 / 2-3期
关键词：
D O I：
10.1016/0096-3003(96)00007-0
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
The major problems encountered in the development of control systems for remotely operated underwater vehicles (ROV) are analyzed. The modeling of the hydrodynamic effects on the vehicle itself and on the umbilical cable is discussed. A robust control based on ''sliding modes'' is used and the sensor systems that can be employed are presented. Experiments with an underwater double pendulum and with a small, laboratory size, vehicle are used to check the simulation results.
引用
收藏
页码：175 / 185
页数：11
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