Remote Robust Control and Simulation of Robot for Search and Rescue Mission in Water

Lin, WP; Chin, CS; Mesbahi, E

doi:10.1109/OCEANS-TAIPEI.2014.6964598

Remote Robust Control and Simulation of Robot for Search and Rescue Mission in Water

Lookup NU author(s): Professor Cheng Chin, Professor Ehsan Mesbahi

Downloads

Full text for this publication is not currently held within this repository. Alternative links are provided below where available.

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 MATLAB^TM and Simulink^TM 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.