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Lookup NU author(s): Dr Cheng Chin,
Professor Ehsan Mesbahi
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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.
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
Online publication date: 24/11/2014
Acceptance date: 01/01/1900
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