Control of an underwater robot system connected to a ship by a slender marine structure

This paper describes the dynamics of a system consisting of a robot system connected to a surface vessel by means of a marine cable, riser or other similar slender marine structure. Only motion in the lateral direction has been considered. A control system is presented for position and velocity cont...

Full description

Saved in:
Bibliographic Details
Published inProceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro pp. 43 - 48
Main Authors Schjolberg, I., Egeland, O.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Asymptotic stability
Closed loop systems
Control system analysis
Control systems
Marine vehicles
Robots
Robust stability
Stability analysis
Underwater cables
Velocity control
Online AccessGet full text

Cover

More Information
Summary:This paper describes the dynamics of a system consisting of a robot system connected to a surface vessel by means of a marine cable, riser or other similar slender marine structure. Only motion in the lateral direction has been considered. A control system is presented for position and velocity control of the robot system. The stability of the control system is analyzed using Lyapunov theory, and the closed loop system is shown to be globally asymptotically stable and robust to environmental disturbances.
ISBN:9780780329751
0780329759
DOI:10.1109/CCA.1996.558602