Simplified Modelling and Identification of an Inspection ROV

Thomas Thuesen Enevoldsen, Emil Már Einarsson, Simon Pedersen, Zhenyu Yang

Research output: Contribution to journalConference article in JournalResearchpeer-review

3 Citations (Scopus)
76 Downloads (Pure)

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 languageEnglish
Book seriesIFAC-PapersOnLine
Volume51
Issue number8
Pages (from-to)257-262
Number of pages6
ISSN1474-6670
DOIs
Publication statusPublished - Jul 2018
Event3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 - Esbjerg, Denmark
Duration: 30 May 20181 Jun 2018
Conference number: 3

Conference

Conference3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018
Number3
Country/TerritoryDenmark
CityEsbjerg
Period30/05/201801/06/2018

Keywords

  • Parameter estimation
  • mathematical modelling
  • model validation
  • ROV
  • offshore robotics
  • offshore robotics

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