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Abstract
The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions. The respective model parameters are obtained from experimental data. Tuning parameters are then introduced in order to further improve the accuracy of the identified model. Based on a model validation it is concluded that the obtained model contains the main properties of the ROV.
Original language | English |
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Book series | IFAC-PapersOnLine |
Volume | 51 |
Issue number | 8 |
Pages (from-to) | 257-262 |
Number of pages | 6 |
ISSN | 1474-6670 |
DOIs | |
Publication status | Published - Jul 2018 |
Event | 3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 - Esbjerg, Denmark Duration: 30 May 2018 → 1 Jun 2018 Conference number: 3 |
Conference
Conference | 3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 |
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Number | 3 |
Country/Territory | Denmark |
City | Esbjerg |
Period | 30/05/2018 → 01/06/2018 |
Keywords
- Parameter estimation
- mathematical modelling
- model validation
- ROV
- offshore robotics
- offshore robotics
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Dive into the research topics of 'Simplified Modelling and Identification of an Inspection ROV'. Together they form a unique fingerprint.Projects
- 1 Finished
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Underwater Robot - VideoRay ROV
Yang, Z., Mai, C. & Pedersen, S.
22/05/2015 → 01/06/2018
Project: Research
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