Remote robust control and simulation of robot for search and rescue mission in water

W.P. Lin; C.S. Chin; E. Mesbahi

doi:10.1109/OCEANS-TAIPEI.2014.6964598

Remote robust control and simulation of robot for search and rescue mission in water

W.P. Lin, C.S. Chin, E. Mesbahi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

Dynamic modeling and simulation of remotely-operated vehicle (ROV) are essential for search and rescue mission using AUV in remote distance. For initial model, hydrodynamic coefficients used in the ROV dynamic model are estimated using computation and analytical methods. The control strategy from launch to recovery is simulated using MATLABTM and SimulinkTM software. A three-dimension animation for ROV underwater operation is used to visualize the launch and recovery process of the AUV. The control simulation using a sliding mode controller (SMC) is designed to control the surge, sway, heave and yaw positions and velocities of the ROV under the sea wave and current disturbances. Simulated results show that the ROV is able to capture the AUV under the effect of current and wave disturbances.

Original language	English
Title of host publication	OCEANS 2014 - TAIPEI
Subtitle of host publication	7-10 April 2014, Taipei, Taiwan
Publisher	IEEE
Pages	1-9
ISBN (Electronic)	978-1-4799-3646-5
ISBN (Print)	978-1-4799-3645-8 , 978-1-4799-3647-2
DOIs	https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964598
Publication status	Published - 2014
Externally published	Yes

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10.1109/OCEANS-TAIPEI.2014.6964598

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title = "Remote robust control and simulation of robot for search and rescue mission in water",

abstract = "Dynamic modeling and simulation of remotely-operated vehicle (ROV) are essential for search and rescue mission using AUV in remote distance. For initial model, hydrodynamic coefficients used in the ROV dynamic model are estimated using computation and analytical methods. The control strategy from launch to recovery is simulated using MATLABTM and SimulinkTM software. A three-dimension animation for ROV underwater operation is used to visualize the launch and recovery process of the AUV. The control simulation using a sliding mode controller (SMC) is designed to control the surge, sway, heave and yaw positions and velocities of the ROV under the sea wave and current disturbances. Simulated results show that the ROV is able to capture the AUV under the effect of current and wave disturbances. ",

author = "W.P. Lin and C.S. Chin and E. Mesbahi",

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T1 - Remote robust control and simulation of robot for search and rescue mission in water

AU - Lin, W.P.

AU - Chin, C.S.

AU - Mesbahi, E.

N1 - Conference Location: Taipei, Taiwan Year of Conference: 2014 Date: 7-10 April 2014 http://eprint.ncl.ac.uk/pub_details2.aspx?pub_id=197873#sthash.QZsRJzmg.dpuf

PY - 2014

Y1 - 2014

N2 - Dynamic modeling and simulation of remotely-operated vehicle (ROV) are essential for search and rescue mission using AUV in remote distance. For initial model, hydrodynamic coefficients used in the ROV dynamic model are estimated using computation and analytical methods. The control strategy from launch to recovery is simulated using MATLABTM and SimulinkTM software. A three-dimension animation for ROV underwater operation is used to visualize the launch and recovery process of the AUV. The control simulation using a sliding mode controller (SMC) is designed to control the surge, sway, heave and yaw positions and velocities of the ROV under the sea wave and current disturbances. Simulated results show that the ROV is able to capture the AUV under the effect of current and wave disturbances.

AB - Dynamic modeling and simulation of remotely-operated vehicle (ROV) are essential for search and rescue mission using AUV in remote distance. For initial model, hydrodynamic coefficients used in the ROV dynamic model are estimated using computation and analytical methods. The control strategy from launch to recovery is simulated using MATLABTM and SimulinkTM software. A three-dimension animation for ROV underwater operation is used to visualize the launch and recovery process of the AUV. The control simulation using a sliding mode controller (SMC) is designed to control the surge, sway, heave and yaw positions and velocities of the ROV under the sea wave and current disturbances. Simulated results show that the ROV is able to capture the AUV under the effect of current and wave disturbances.

U2 - 10.1109/OCEANS-TAIPEI.2014.6964598

DO - 10.1109/OCEANS-TAIPEI.2014.6964598

M3 - Conference contribution

SN - 978-1-4799-3645-8

SN - 978-1-4799-3647-2

SP - 1

EP - 9

BT - OCEANS 2014 - TAIPEI

PB - IEEE

ER -

Remote robust control and simulation of robot for search and rescue mission in water

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