Abstract
Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading, among others. In this paper, the modelling, design and control of the Kaxan ROV is presented: i) The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii) the Kaxan hardware/software architecture, iii) numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbances and thruster dynamics, iv) a virtual environment to visualize the motion of the Kaxan ROV and v) experimental results of a one degree of freedom underwater system.
Highlights
Underwater vehicles, ROVs (Remotely Operated Vehicles), are controlled from the surface using a Surface Control Unit (SCU) where the pilot makes decisions and controls the vehicle online
This study aims to review ROV control strategies ranging from position trajectory to stationkeeping control, which are two of the main problems to be dealt with
A simple yet straightforward approach based on second order sliding mode control for nonlinear underwater vehicles has been synthesized here
Summary
Underwater vehicles, ROVs (Remotely Operated Vehicles), are controlled from the surface using a Surface Control Unit (SCU) where the pilot (the user) makes decisions and controls the vehicle online. One of the main trends for ROVs is “autonomy” for some specific tasks, such as position tracking, dynamic positioning (or station-keeping), auto-heading and autodepth control, for instance. Parametric uncertainty (as added mass, hydrodynamic coefficients, etc.). This problem increases with the modular capability of the current ROVs (the vehicle's ability to support diverse tools modules or skids, for instance; a one or two manipulator skid, a water-jetting tooling skid, a rotatory brush skid, a pipeline cameras skid, wire and cable cutter, and rotary disk cutter, among others). Luis Govinda García-Valdovinos, Tomás Salgado-Jiménez, Manuel Bandala-InStánJ cAhdevz,RLoubcoiatnSoysNt,a2va0-1B4a,la1n1z:a1r,| dRoid:r1ig0o.5H7e7r2n/á5n6d8e1z0- 1 Alvarado and José Antonio Cruz-Ledesma: Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle
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