A study of the control of an underactuated underwater robotic vehicle

T. H. Koh; M. W.S. Lau; E. Low; G. Seet; S. Swei; P. L. Cheng

doi:10.1109/IRDS.2002.1044057

A study of the control of an underactuated underwater robotic vehicle

T. H. Koh, M. W.S. Lau, E. Low, G. Seet, S. Swei, P. L. Cheng

Aerospace Engineering

Nanyang Technological University

Research output: Contribution to journal › Article › peer-review

20 Scopus citations

Abstract

Underwater Robotic Vehicles (URVs), generally, consist of two main classes, namely the Remotely Operated Vehicles (ROVs) and the Autonomous Underwater Vehicles (AUVs). In this paper, a simplified model of a thruster and a general equation of rigid body motion for an underactuated ROV are presented. Then the nonlinear and coupling effects on the ROV, from its shape and design, are derived and presented. Lastly, the steadystate nonlinear behaviour of the thrusters observed are used to design and develop a simple PID controller. Simulation results obtained demonstrated the capability of the controller in the regulating of the desired amount of thrust while maintaining a relatively small degree of steadystate error.

Original language	British English
Article number	162
Pages (from-to)	2049-2054
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	2
DOIs	https://doi.org/10.1109/IRDS.2002.1044057
State	Published - Oct 2002

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AU - Low, E.

AU - Seet, G.

AU - Swei, S.

AU - Cheng, P. L.

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AB - Underwater Robotic Vehicles (URVs), generally, consist of two main classes, namely the Remotely Operated Vehicles (ROVs) and the Autonomous Underwater Vehicles (AUVs). In this paper, a simplified model of a thruster and a general equation of rigid body motion for an underactuated ROV are presented. Then the nonlinear and coupling effects on the ROV, from its shape and design, are derived and presented. Lastly, the steadystate nonlinear behaviour of the thrusters observed are used to design and develop a simple PID controller. Simulation results obtained demonstrated the capability of the controller in the regulating of the desired amount of thrust while maintaining a relatively small degree of steadystate error.

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A study of the control of an underactuated underwater robotic vehicle

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