Geodesic
Design of a control architecture for an underwater remotely operated vehicle (ROV) used for search and rescue operations
Kybernetika, Tome 58 (2022) no. 2, pp. 237-253
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A control system architecture design for an underwater ROV, primarily Class I - Pure Observation underwater ROV is presented in this paper. A non-linear plant model was designed using SolidWorks 3D modeling tool and is imported to MATLAB as a 3D model. The non-linear modeled plant is linearized using the MATLAB linear analysis toolbox to have a linear approximate model of the system. The authors designed controllers for the linear plant model of underwater ROV. PID controllers are utilized as a controller of the modeled plant. The PID tuning tools by MATLAB are utilized to tune the controller of the plant model of underwater ROV. The researchers test the control design of underwater ROV using MATLAB Simulink by analyzing the response of the system and troubleshoot the control design to achieve the objective parameters for the control design of underwater ROV.
A control system architecture design for an underwater ROV, primarily Class I - Pure Observation underwater ROV is presented in this paper. A non-linear plant model was designed using SolidWorks 3D modeling tool and is imported to MATLAB as a 3D model. The non-linear modeled plant is linearized using the MATLAB linear analysis toolbox to have a linear approximate model of the system. The authors designed controllers for the linear plant model of underwater ROV. PID controllers are utilized as a controller of the modeled plant. The PID tuning tools by MATLAB are utilized to tune the controller of the plant model of underwater ROV. The researchers test the control design of underwater ROV using MATLAB Simulink by analyzing the response of the system and troubleshoot the control design to achieve the objective parameters for the control design of underwater ROV.
DOI : 10.14736/kyb-2022-2-0237
Classification : 93D06
Keywords: control; underwater ROV; modeling; kinematics 
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     author = {Sangalang, Ralph Gerard B. and Masangcay, Diether Jhay S. and Torino, Cleo Martin R. and Gutierrez, Diane Jelyn C.},
     title = {Design of a control architecture for an underwater remotely operated vehicle {(ROV)} used for search and rescue operations},
     journal = {Kybernetika},
     pages = {237--253},
     year = {2022},
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     zbl = {07584155},
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Sangalang, Ralph Gerard B.; Masangcay, Diether Jhay S.; Torino, Cleo Martin R.; Gutierrez, Diane Jelyn C. Design of a control architecture for an underwater remotely operated vehicle (ROV) used for search and rescue operations. Kybernetika, Tome 58 (2022) no. 2, pp. 237-253. doi: 10.14736/kyb-2022-2-0237

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