Robust control of ROV/AUVs

dc.contributor.advisor	Pettersen, Kristin Ytterstad	nb_NO
dc.contributor.author	Svendby, Eirik	nb_NO
dc.date.accessioned	2014-12-19T14:01:30Z
dc.date.available	2014-12-19T14:01:30Z
dc.date.created	2010-09-03	nb_NO
dc.date.issued	2007	nb_NO
dc.identifier	347467	nb_NO
dc.identifier	ntnudaim:3356	nb_NO
dc.identifier.uri	http://hdl.handle.net/11250/259616
dc.description.abstract	In this project a robust adaptive controller has been developed for Minerva, NTNU's research ROV. The controller was tested in simulation using Matlab/Simulink with a mathematical model of the vessel. It was also tested in a practical experiment at sea, with the ROV Minerva. The simulations, the control system performs very well. The results from the practical experiment are promising, but several improvements are necessary before the system works satisfactory. The single factor which is believed to degrade the perfomance the most is an error in the mapping between thrust force and rotational speed.	nb_NO
dc.language	eng	nb_NO
dc.publisher	Institutt for teknisk kybernetikk	nb_NO
dc.subject	ntnudaim	no_NO
dc.subject	SIE3 teknisk kybernetikk	no_NO
dc.subject	Reguleringsteknikk	no_NO
dc.title	Robust control of ROV/AUVs	nb_NO
dc.type	Master thesis	nb_NO
dc.source.pagenumber	87	nb_NO
dc.contributor.department	Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikk	nb_NO