Abstract
This study outlines a grey-box control-oriented model comparison of a VideoRay Pro 4 Un-derwater Inspection ROV with autonomous features. The respective models are developed and identified in previous studies and are based on three different model principles. The models are evaluated based on open-loop experimental tests with and without multiple thruster actuation. The tests show significant dynamic coupling between several motions, which none of the models estimate with sufficient accuracy without model extensions. Overall, it is concluded that all the three models are accurate in cases where the primary motions are directly actuated but also inaccurate when dynamic couplings exist.
Original language | English |
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Title of host publication | Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
Number of pages | 6 |
Volume | 2018-July |
Publisher | IEEE Press |
Publication date | Jul 2018 |
Pages | 899-904 |
Article number | 8452445 |
ISBN (Print) | 978-1-5386-1855-4 |
ISBN (Electronic) | 978-1-5386-1854-7 |
DOIs | |
Publication status | Published - Jul 2018 |
Event | 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Auckland, New Zealand Duration: 9 Jul 2018 → 12 Jul 2018 http://aim2018.org/ |
Conference
Conference | 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
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Country/Territory | New Zealand |
City | Auckland |
Period | 09/07/2018 → 12/07/2018 |
Internet address |
Series | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
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ISSN | 2159-6255 |
Keywords
- Mathematical model
- Solid modeling
- Force
- Drag
- Buoyancy
- Couplings
- Dynamics