System Design , Guidance , and Control of a Remotely Operated Underwater Vehicle

• Main Authors: chin ho-lee, 李金河
• Other Authors: chen hua-kuo
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/43045775245248696372

碩士 === 國立臺灣大學 === 造船及海洋工程學研究所 === 89 === The purpose of a navigation and control system for a remotely operated vehicle (ROV) is to provide precise path tracking capability in the water. This thesis continue the design effort of the navigation and control system of an experimental ROV, ROV-HI1, and focuses on system identification issues and trajectory control of a new vehicle, ROV-HI2. We provide a general framework of the system design and control for the ROV-HI2. The controller structure we applied is based on sliding mode controller. The identified thruster characteristic is used to design a non-linear compensator for the motion control. Tank tests and open sea experiments assures that the navigation and control method proposed herein yields satisfactory results.