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dc.contributor.authorFernandes, Daniel de Almeida
dc.contributor.authorSørensen, Asgeir Johan
dc.contributor.authorDonha, Decio C.
dc.date.accessioned2017-11-29T14:25:57Z
dc.date.available2017-11-29T14:25:57Z
dc.date.created2013-12-29T21:28:23Z
dc.date.issued2013
dc.identifier.citationElsevier IFAC Publications / IFAC Proceedings series. 2013, 9 (1), 251-256.nb_NO
dc.identifier.issn1474-6670
dc.identifier.urihttp://hdl.handle.net/11250/2468562
dc.description.abstractThis paper proposes a MCS (Motion Control System) with trajectory tracking capability for observation class ROVs (Remotely Operated Vehicle) used to carry out automated high-resolution image capturing missions, e.g. inspections, mappings, and surveys. The trajectory tracking capability is a key feature to enable the end-users of the ROV technology to acquire sequential high-quality images at proper pace to construct consistent representations of the objects or of the environments of interest. Four degrees-of-freedom are controlled – surge, sway, heave, and yaw. The MCS consists of an output feedback control system that is composed of a high-gain state observer and a MIMO (Multiple-Input-Multiple-Output) PID (Proportional-Integral-Derivative) controller, that works aided by reference feedforward. Plant linearisation is performed aiming at improving the tracking performance. Stability and satisfactory performance for suitable and smooth reference trajectories are attained despite the presence of unmodelled dynamics, plant parameter variations, measurement noise, and environmental disturbances. Simulated results based on the model of the NTNU's ROV Minerva are presented.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.titleTrajectory Tracking Motion Control System for Observation Class ROVsnb_NO
dc.typeJournal articlenb_NO
dc.description.versionsubmittedVersionnb_NO
dc.source.pagenumber251-256nb_NO
dc.source.volume9nb_NO
dc.source.journalElsevier IFAC Publications / IFAC Proceedings seriesnb_NO
dc.source.issue1nb_NO
dc.identifier.doi10.3182/20130918-4-JP-3022.00025
dc.identifier.cristin1081464
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.relation.projectNorges forskningsråd: 192427nb_NO
dc.description.localcodeThis is a submitted manuscript of an article published by Elsevier Ltd in IFAC Proceedings Volumes, 2 June 2016.nb_NO
cristin.unitcode194,64,20,0
cristin.unitnameInstitutt for marin teknikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode0


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