An anti-interference Depth control for the Remotely Operated Vehicle

• Main Authors: Chu-jung Ko, 柯卓融
• Other Authors: Chi-Cheng Cheng
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/43966d

碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 96 === The main focus of about this thesis is to design an anti-interference depth controller for underwater remotely operated vehicles(ROV). Since the underwater remotely operated vehicle experiences combination effects of nonlinearities, uncertain and time-varying parameters, and unknown disturbances, demand of robustness for the controller needs to be extremely strict. Therefore, an anti-interference depth controller using PID control and Sliding-mode control is developed. The Matlab simulation tool is employed to simulate the depth control performance of the behavior of the ROV. The simulation is also considered about the model uncertainty of ROV.