The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
A preliminary mathematical model for the UCT SEAHOG Remotely operated underwater vehicle (ROV) is developed, including estimation of the rigid body, hydrodynamic and hydrostatic properties of the robot. A single state thruster model is developed and verified according to real life test data. A close...
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| Format: | Dissertation |
| Language: | English |
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University of Cape Town
2016
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| Online Access: | http://hdl.handle.net/11427/20538 |