The paper addresses the guidance control design of the motion controller for an underwater Remotely Operated Vehicle (ROV) within an European Commission H2020 research project called DexROV. Given a kinematics model of an ROV possibly subject to an ocean current, the problem consists in designing a guidance control law able to realize, within a common and unified framework, several basic control loops denoted as "primitives". The problem is rather standard when considering such primitives individually, but it becomes more challenging when aiming at designing a single general solution able to realize several different primitives according on how the reference signal for the controller is assigned. Moreover, the proposed guidance loop is required to operate in the presence of delays. The proposed solution builds on standard techniques leading to a Proportional - Integral (PI) controller with an adaptive gain selection rule to cope with integrator wind-up phenomena due to vehicle velocity saturation. The designed solution is numerically tested and analysed through simulations accounting for simplified, yet realistic, sensor models including stochastic noise and delays.

Underwater vehicle guidance control design within the DexROV project: preliminary results

Indiveri, Giovanni
2016-01-01

Abstract

The paper addresses the guidance control design of the motion controller for an underwater Remotely Operated Vehicle (ROV) within an European Commission H2020 research project called DexROV. Given a kinematics model of an ROV possibly subject to an ocean current, the problem consists in designing a guidance control law able to realize, within a common and unified framework, several basic control loops denoted as "primitives". The problem is rather standard when considering such primitives individually, but it becomes more challenging when aiming at designing a single general solution able to realize several different primitives according on how the reference signal for the controller is assigned. Moreover, the proposed guidance loop is required to operate in the presence of delays. The proposed solution builds on standard techniques leading to a Proportional - Integral (PI) controller with an adaptive gain selection rule to cope with integrator wind-up phenomena due to vehicle velocity saturation. The designed solution is numerically tested and analysed through simulations accounting for simplified, yet realistic, sensor models including stochastic noise and delays.
File in questo prodotto:
File Dimensione Formato  
1-s2.0-S2405896316319401-main.pdf

accesso chiuso

Descrizione: Articolo
Tipologia: Documento in versione editoriale
Dimensione 1.31 MB
Formato Adobe PDF
1.31 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/1021016
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 4
  • ???jsp.display-item.citation.isi??? 2
social impact