Control of an Underwater Robot System Connected to a Ship by a Slender Marine Structure

Abstract

This report addresses the stabilization problem of a marine structure (i.e. cable/riser), connected to a surface vessel at one end and to a thruster unit at the other. Here, only motion in the lateral direction has been considered. Stabilization control laws are designed for position and velocity control of the robot system. The passivity of the control system is analyzed, and the closed loop system is shown to be asymptotically stable. Simulation results are presented.