Model comparison of a VideoRay Pro 4 Underwater ROV

Simon Pedersen, Thomas Thuesen Enevoldsen, Emil Már Einarsson

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2 Citationer (Scopus)

Abstrakt

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.
OriginalsprogEngelsk
TitelProceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Antal sider6
Vol/bind2018-July
ForlagIEEE Press
Publikationsdatojul. 2018
Sider899-904
Artikelnummer8452445
ISBN (Trykt)978-1-5386-1855-4
ISBN (Elektronisk)978-1-5386-1854-7
DOI
StatusUdgivet - jul. 2018
Begivenhed2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Auckland, New Zealand
Varighed: 9 jul. 201812 jul. 2018
http://aim2018.org/

Konference

Konference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
LandNew Zealand
ByAuckland
Periode09/07/201812/07/2018
Internetadresse
NavnIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
ISSN2159-6255

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