Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance

Malte Severin Rosencrone von Benzon; Fredrik Fogh Sørensen; Jesper Liniger; Simon Pedersen; Sigurd Klemmensen; Kenneth  Schmidt

doi:10.23919/ECC54610.2021.9655050

Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance

Malte Severin Rosencrone von Benzon^*, Fredrik Fogh Sørensen, Jesper Liniger, Simon Pedersen, Sigurd Klemmensen, Kenneth Schmidt

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Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

13 Citationer (Scopus)

85 Downloads (Pure)

Abstract

Oil & gas operators spend tens of million USD every year on removing marine growth, using manually operated remotely operated vehicles (ROV) with water jets. This study investigates the benefits of automating the ROV used for cleaning by demonstrating a sliding mode control (SMC) algorithm on a reconfigured BlueROV2 with an attached water jet. A nonlinear SMC was designed for the cleaning task. SMC was able to stabilize the orientation of the ROV while following a trajectory in depth. Regular SMC could not stabilize the ROV in front of the member, with the water jet activated. To accommodate for the delay, integral action was added to the SMC (IxSMC) in the surge direction, which stabilized the ROV. From the research presented in this paper, it can be concluded that automation of a marine growth removing ROV can be achieved by applying IxSMC.

Originalsprog	Engelsk
Titel	2021 European Control Conference (ECC)
Antal sider	6
Forlag	IEEE Press
Publikationsdato	2021
Sider	2265-2270
ISBN (Trykt)	978-1-6654-7945-5
ISBN (Elektronisk)	978-9-4638-4236-5
DOI	https://doi.org/10.23919/ECC54610.2021.9655050
Status	Udgivet - 2021
Begivenhed	2021 European Control Conference (ECC) - Delft, Holland Varighed: 29 jun. 2021 → 2 jul. 2021

Konference

Konference	2021 European Control Conference (ECC)
Land/Område	Holland
By	Delft
Periode	29/06/2021 → 02/07/2021

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Denne publikation bidrager til følgende verdensmål

Adgang til dokumentet

10.23919/ECC54610.2021.9655050

Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet DisturbanceAccepteret manuskript, 931 KBLicens: Ikke-specificeret

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

ACOMAR: Auto Compact Marine Growth Remover
Liniger, J., Pedersen, S., von Benzon, M., Sørensen, H., Sørensen, F. F., Jensen, A. L., Yang, Z., Nielsen, M. E., Mai, C. & Christensen, M. D.
EUDP
01/09/2020 → 31/12/2023
Projekter: Projekt › Forskning

Automatiseret rensning af begroning på konstruktioner i vand
Jesper Liniger (Deltager)
Impact: Økonomisk impact, Anden impact

Citationsformater

@inproceedings{4eba36ddcb244593864c929f62855db7,

title = "Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance",

abstract = "Oil & gas operators spend tens of million USD every year on removing marine growth, using manually operated remotely operated vehicles (ROV) with water jets. This study investigates the benefits of automating the ROV used for cleaning by demonstrating a sliding mode control (SMC) algorithm on a reconfigured BlueROV2 with an attached water jet. A nonlinear SMC was designed for the cleaning task. SMC was able to stabilize the orientation of the ROV while following a trajectory in depth. Regular SMC could not stabilize the ROV in front of the member, with the water jet activated. To accommodate for the delay, integral action was added to the SMC (IxSMC) in the surge direction, which stabilized the ROV. From the research presented in this paper, it can be concluded that automation of a marine growth removing ROV can be achieved by applying IxSMC.",

author = "Benzon, {Malte Severin Rosencrone von} and S{\o}rensen, {Fredrik Fogh} and Jesper Liniger and Simon Pedersen and Sigurd Klemmensen and Kenneth Schmidt",

year = "2021",

doi = "10.23919/ECC54610.2021.9655050",

language = "English",

isbn = "978-1-6654-7945-5",

pages = "2265--2270",

booktitle = "2021 European Control Conference (ECC)",

publisher = "IEEE Press",

note = "2021 European Control Conference (ECC) ; Conference date: 29-06-2021 Through 02-07-2021",

}

Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance. / Benzon, Malte Severin Rosencrone von ; Sørensen, Fredrik Fogh ; Liniger, Jesper et al.
2021 European Control Conference (ECC). IEEE Press, 2021. s. 2265-2270.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance

AU - Benzon, Malte Severin Rosencrone von

AU - Sørensen, Fredrik Fogh

AU - Liniger, Jesper

AU - Pedersen, Simon

AU - Klemmensen, Sigurd

AU - Schmidt, Kenneth

PY - 2021

Y1 - 2021

N2 - Oil & gas operators spend tens of million USD every year on removing marine growth, using manually operated remotely operated vehicles (ROV) with water jets. This study investigates the benefits of automating the ROV used for cleaning by demonstrating a sliding mode control (SMC) algorithm on a reconfigured BlueROV2 with an attached water jet. A nonlinear SMC was designed for the cleaning task. SMC was able to stabilize the orientation of the ROV while following a trajectory in depth. Regular SMC could not stabilize the ROV in front of the member, with the water jet activated. To accommodate for the delay, integral action was added to the SMC (IxSMC) in the surge direction, which stabilized the ROV. From the research presented in this paper, it can be concluded that automation of a marine growth removing ROV can be achieved by applying IxSMC.

AB - Oil & gas operators spend tens of million USD every year on removing marine growth, using manually operated remotely operated vehicles (ROV) with water jets. This study investigates the benefits of automating the ROV used for cleaning by demonstrating a sliding mode control (SMC) algorithm on a reconfigured BlueROV2 with an attached water jet. A nonlinear SMC was designed for the cleaning task. SMC was able to stabilize the orientation of the ROV while following a trajectory in depth. Regular SMC could not stabilize the ROV in front of the member, with the water jet activated. To accommodate for the delay, integral action was added to the SMC (IxSMC) in the surge direction, which stabilized the ROV. From the research presented in this paper, it can be concluded that automation of a marine growth removing ROV can be achieved by applying IxSMC.

U2 - 10.23919/ECC54610.2021.9655050

DO - 10.23919/ECC54610.2021.9655050

M3 - Article in proceeding

SN - 978-1-6654-7945-5

SP - 2265

EP - 2270

BT - 2021 European Control Conference (ECC)

PB - IEEE Press

T2 - 2021 European Control Conference (ECC)

Y2 - 29 June 2021 through 2 July 2021

ER -

Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance

Abstract

Konference

FN’s Verdensmål

Adgang til dokumentet

AUB Link

Fingeraftryk

Projekter

ACOMAR: Auto Compact Marine Growth Remover

Impacts

Automatiseret rensning af begroning på konstruktioner i vand

Citationsformater