Development of dynamic positioning and tracking system for the ROV Minerva

Sørensen, Asgeir J.; Dukan, Fredrik; Ludvigsen, Martin; Fernandes, Daniel de Almeida; Candeloro, Mauro

doi:10.1049/pbce077e_ch6

Cited by 24 publications

(20 citation statements)

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“…The details of control systems for Minerva was presented in [Dukan et al, 2011, Sørensen et al, 2012. When the control objective is dynamic positioning, i.e the goal is to keepη = η d − η = 0, where η d is the desired position, a non-linear PID controller, was used:…”

Section: Mathematical Modelmentioning

confidence: 99%

Navigation System Fault Diagnosis for Underwater Vehicle

Falkenberg

Gregersen

Blanke

2014

IFAC Proceedings Volumes

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This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using different approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude. Numerical simulations and sea trial data show results with very favourable balance between detection and false alarm probabilities. c IFAC 2014.

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Section: Mathematical Modelmentioning

confidence: 99%

Navigation System Fault Diagnosis for Underwater Vehicle

Falkenberg

Gregersen

Blanke

2014

IFAC Proceedings Volumes

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“…PIDs fit well applications where sufficiently damped 2nd-order dynamics are dealt with (Åström and Hägglund, 2011). A number of successful applications based on PIDs can be found in literature (Breivik and Fossen, 2009;Fernandes et al, 2012;Fossen, 2011;Perrier and Canudas-de-Wit, 1996;Sørensen, 2013;Sørensen et al, 2012, and references therein). Asymptotic tracking requires feedforward action to ensure that the needed control effort to achieve the goal is provided (Franklin et al, 2009;Slotine and Li, 2005).…”

Section: Asymptotic Trajectory Trackingmentioning

confidence: 99%

Trajectory Tracking Motion Control System for Observation Class ROVs

Fernandes

Sørensen

Donha

2013

IFAC Proceedings Volumes

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This paper proposes a MCS (Motion Control System) with trajectory tracking capability for observation class ROVs (Remotely Operated Vehicle) used to carry out automated high-resolution image capturing missions, e.g. inspections, mappings, and surveys. The trajectory tracking capability is a key feature to enable the end users of the ROV technology to acquire sequential high-quality images at proper pace to construct consistent representations of the objects or of the environments of interest. Four degrees-of-freedom are controlled -surge, sway, heave, and yaw. The MCS consists of an output feedback control system that is composed of a high-gain state observer and a MIMO (Multiple-Input-Multiple-Output) PID (ProportionalIntegral-Derivative) controller, that works aided by reference feedforward. Plant linearisation is performed aiming at improving the tracking performance. Stability and satisfactory performance of suitable and smooth reference trajectories are attained despite the presence of unmodelled dynamics, plant parameter variations, measurement noise, and environmental disturbances. Simulated results based on the model of the NTNU's ROV Minerva are presented.

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“…The references are meant to be employed in high-performance Motion Control Systems (MCSs) with trajectory tracking and Dynamic Positioning (DP) capabilities, e.g. Fernandes et al (2015), Omerdic et al (2012), Sørensen et al (2012), Caccia (2006), and Hsu et al (2000). Although this work focuses on (typically) fully-actuated Unmanned Underwater Vehicles (UUVs) such as ROVs, some of the ideas presented herein can be adapted to be used as a means of also guiding the motion of (typically) underactuated marine crafts, e.g.…”

Section: Introductionmentioning

confidence: 99%

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Fernandes¹,

Sørensen²,

Donha³

2015

MIC

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This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described. Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited. Results from computer simulations and full-scale sea trials, both based on the NTNU's ROV Minerva, are presented and discussed.Keywords: Guidance system, Path generation, Reference model, ROV, Trajectory tracking. List of acronyms and abbreviations

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Development of dynamic positioning and tracking system for the ROV Minerva

Cited by 24 publications

References 0 publications

Navigation System Fault Diagnosis for Underwater Vehicle

Navigation System Fault Diagnosis for Underwater Vehicle

Trajectory Tracking Motion Control System for Observation Class ROVs

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

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