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Remote Robust Control and Simulation of Robot for Search and Rescue Mission in Water

Lookup NU author(s): Dr Cheng Chin, Professor Ehsan Mesbahi

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Abstract

Dynamic modeling and simulation of remotely-operated vehicle (ROV) are essential for search and rescue mission using AUV in remote distance. For initial model, hydrodynamic coefficients used in the ROV dynamic model are estimated using computation and analytical methods. The control strategy from launch to recovery is simulated using MATLABTM and SimulinkTM software. A three-dimension animation for ROV underwater operation is used to visualize the launch and recovery process of the AUV. The control simulation using a sliding mode controller (SMC) is designed to control the surge, sway, heave and yaw positions and velocities of the ROV under the sea wave and current disturbances. Simulated results show that the ROV is able to capture the AUV under the effect of current and wave disturbances.


Publication metadata

Author(s): Lin WP, Chin CS, Mesbahi E

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: OCEANS 2014 - TAIPEI

Year of Conference: 2014

Pages: 1-9

Online publication date: 24/11/2014

Acceptance date: 01/01/1900

Publisher: IEEE

URL: http://dx.doi.org/10.1109/OCEANS-TAIPEI.2014.6964598

DOI: 10.1109/OCEANS-TAIPEI.2014.6964598

Library holdings: Search Newcastle University Library for this item

ISBN: 9781479936465


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