TY - JOUR

T1 - Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle

AU - García-Valdovinos, Luis Govinda

AU - Salgado-Jiménez, Tomás

AU - Bandala-Sánchez, Manuel

AU - Nava-Balanzar, Luciano

AU - Hernández-Alvarado, Rodrigo

AU - Cruz-Ledesma, José Antonio

PY - 2014/1/9

Y1 - 2014/1/9

N2 - Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading among others. In this paper, the modelling design and control of the Kaxan ROV is presented: i) The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii) the Kaxan hardware/software architecture, iii) numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbances and thruster dynamics, iv) a virtual environment to visualize the motion of the Kaxan ROV and v) experimental results of a one degree of freedom underwater system.

AB - Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading among others. In this paper, the modelling design and control of the Kaxan ROV is presented: i) The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii) the Kaxan hardware/software architecture, iii) numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbances and thruster dynamics, iv) a virtual environment to visualize the motion of the Kaxan ROV and v) experimental results of a one degree of freedom underwater system.

KW - High Order Sliding Mode Control

KW - Model-Free

KW - Ocean Currents

KW - ROV Control

U2 - 10.5772/56810

DO - 10.5772/56810

M3 - Journal article

AN - SCOPUS:84892699652

VL - 11

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

SN - 1729-8806

IS - 1

M1 - 1

ER -