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Dynamic positioning of remotely operated underwater vehicles

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4 Author(s)
Liu Hsu ; Dept. of Electr. Eng., COPPE/Federal Univ. of Rio janeiro, Brazil ; Costa, R.R. ; Lizarralde, F. ; Da Cunha, J.P.V.S.

The paper describes an automatic dynamic positioning system for remotely operated underwater vehicles (ROVs) using a mechanical passive arm for position measurement that is suitable for inspection and intervention tasks requiring precise positioning. Good dynamic performance in tracking was also attained, particularly with the variable structure model reference adaptive control strategy

Published in:

Robotics & Automation Magazine, IEEE  (Volume:7 ,  Issue: 3 )