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dc.contributor.advisorNguyen, Tu Ducnb_NO
dc.contributor.authorLi, Weinb_NO
dc.date.accessioned2014-12-19T14:01:41Z
dc.date.available2014-12-19T14:01:41Z
dc.date.created2010-09-03nb_NO
dc.date.issued2008nb_NO
dc.identifier347587nb_NO
dc.identifierntnudaim:4018nb_NO
dc.identifier.urihttp://hdl.handle.net/11250/259668
dc.description.abstractThis 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.nb_NO
dc.languageengnb_NO
dc.publisherInstitutt for teknisk kybernetikknb_NO
dc.subjectntnudaimno_NO
dc.subjectSIE3 teknisk kybernetikkno_NO
dc.subjectReguleringsteknikkno_NO
dc.titleControl of an Underwater Robot System Connected to a Ship by a Slender Marine Structurenb_NO
dc.typeMaster thesisnb_NO
dc.source.pagenumber48nb_NO
dc.contributor.departmentNorges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikknb_NO


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