With the increased utilization of remotely operated vehicles in subsea applications, the development of autonomous vehicles becomes highly desirable to enhance operator efficiency. The dynamic model of an untethered remotely operated underwater vehicle is presented, and an adaptive control strategy for such vehicles is described. The robustness of the control system with respect to nonlinear dynamic behavior and parameter uncertainties is investigated by computer simulation. The results show that the use of the adaptive control system can provide high performance of the vehicle in the presence of unpredictable changes in the dynamics of the vehicle and its environment.


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    Title :

    Modeling and control of underwater robotic vehicles


    Additional title:

    Modellierung und Steuerung von Unterwasser-Roboterfahrzeugen


    Contributors:
    Yuh, J. (author)

    Published in:

    Publication date :

    1990


    Size :

    9 Seiten, 13 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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