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Systematic Modeling and Model-based Simulation of a Remotely-Operated Vehicle using MATLAB and Simulink

Lookup NU author(s): Professor Cheng Chin

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Abstract

Dynamic modeling and simulation of underwater robotic vehicles is essential for control. In this paper, systematic dynamic modeling and simulation of a remotely-operated vehicle (ROV) was developed and named as ROV Design and Analyses (RDA). For initial design, hydrodynamic coefficients used in the ROV dynamic model were estimated using computational-fluid dynamic software and experiments. The proposed RDA toolbox written in MATLAB and Simulink platform provides a means to simulate the mathematical models of ROV and the control system design before final hardware implementation. The control simulation using a proportional-integral-derivative (PID) controller is able to model the positions and velocities output of the ROV that is highly uncertain and nonlinear.

Publication metadata

Author(s): Chin C

Publication type: Article

Publication status: Published

Journal: International Journal of Modeling, Simulation, and Scientific Computing

Year: 2011

Volume: 2

Issue: 4

Pages: 481–511

Print publication date: 03/09/2011

ISSN (print): 1793-9623

ISSN (electronic): 1793-9615

Publisher: World Scientific

URL: http://dx.doi.org/10.1142/S1793962311000566

DOI: 10.1142/S1793962311000566

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