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Lookup NU author(s): Dr Cheng Chin
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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.
Author(s): Chin C
Publication type: Article
Publication status: Published
Journal: International Journal of Modeling, Simulation, and Scientific Computing
Print publication date: 03/09/2011
ISSN (print): 1793-9623
ISSN (electronic): 1793-9615
Publisher: World Scientific
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