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

5 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 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

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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