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 proceedingConference contribution

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 languageEnglish
Title of host publicationOCEANS 2014 - TAIPEI
Subtitle of host publication7-10 April 2014, Taipei, Taiwan
PublisherIEEE
Pages1-9
ISBN (Electronic)978-1-4799-3646-5
ISBN (Print)978-1-4799-3645-8 , 978-1-4799-3647-2
DOIs
Publication statusPublished - 2014
Externally publishedYes

Fingerprint

Remotely operated vehicles
Remote control
Robust control
Robots
Water
Recovery
Animation
Dynamic models
Hydrodynamics
Controllers

Cite this

Lin, W. P., Chin, C. S., & Mesbahi, E. (2014). Remote robust control and simulation of robot for search and rescue mission in water. In OCEANS 2014 - TAIPEI : 7-10 April 2014, Taipei, Taiwan (pp. 1-9). IEEE. https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964598
Lin, W.P. ; Chin, C.S. ; Mesbahi, E. / Remote robust control and simulation of robot for search and rescue mission in water. OCEANS 2014 - TAIPEI : 7-10 April 2014, Taipei, Taiwan. IEEE, 2014. pp. 1-9
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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.",
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Lin, WP, Chin, CS & Mesbahi, E 2014, Remote robust control and simulation of robot for search and rescue mission in water. in OCEANS 2014 - TAIPEI : 7-10 April 2014, Taipei, Taiwan. IEEE, pp. 1-9. https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964598

Remote robust control and simulation of robot for search and rescue mission in water. / Lin, W.P.; Chin, C.S.; Mesbahi, E.

OCEANS 2014 - TAIPEI : 7-10 April 2014, Taipei, Taiwan. IEEE, 2014. p. 1-9.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Lin WP, Chin CS, Mesbahi E. Remote robust control and simulation of robot for search and rescue mission in water. In OCEANS 2014 - TAIPEI : 7-10 April 2014, Taipei, Taiwan. IEEE. 2014. p. 1-9 https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964598