Design of a control architecture for an underwater remotely operated vehicle (ROV) used for search and rescue operations

Title:

Design of a control architecture for an underwater remotely operated vehicle (ROV) used for search and rescue operations

Creator:

Sangalang, Ralph Gerard B., Masangcay, Diether Jhay S., Torino, Cleo Martin R., and Gutierrez, Diane Jelyn C.

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:c01d0c50-6923-4604-a021-309a4d25364c
uuid:c01d0c50-6923-4604-a021-309a4d25364c
doi:10.14736/kyb-2022-2-0237

Subject:

control, underwater ROV, modeling, and kinematics

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

A control system architecture design for an underwater ROV, primarily Class I - Pure Observation underwater ROV is presented in this paper. A non-linear plant model was designed using SolidWorks 3D modeling tool and is imported to MATLAB as a 3D model. The non-linear modeled plant is linearized using the MATLAB linear analysis toolbox to have a linear approximate model of the system. The authors designed controllers for the linear plant model of underwater ROV. PID controllers are utilized as a controller of the modeled plant. The PID tuning tools by MATLAB are utilized to tune the controller of the plant model of underwater ROV. The researchers test the control design of underwater ROV using MATLAB Simulink by analyzing the response of the system and troubleshoot the control design to achieve the objective parameters for the control design of underwater ROV.

Language:

English

Rights:

http://creativecommons.org/licenses/by-nc-sa/4.0/
policy:public

Coverage:

237-253

Source:

Kybernetika | 2022 Volume:58 | Number:2

Harvested from:

CDK

Metadata only:

false