Abstract
In contrast to the classical mathematical-based modeling technique, this paper describes a black box system identification method for dynamic characterization of an underwater vehicle in heave. The vehicle is a custom-built inspection class micro-ROV. The model obtained is employed in the design of a proportional-integral (PI) depth controller. A novel multi-parameter root locus (MPRL) technique is proposed for controller tuning. The proposed method helps analyze the effect of varying multiple control parameters on the system's response. Simulations and pool experiments demonstrate the effectiveness of the followed model-based control design scheme for ROV's station-keeping.
| Original language | English |
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| Title of host publication | 2021 International Conference on Robotics and Automation in Industry, ICRAI 2021 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781665423434 |
| DOIs | |
| State | Published - 2021 |
| Externally published | Yes |
| Event | 4th International Conference on Robotics and Automation in Industry, ICRAI 2021 - Rawalpindi, Pakistan Duration: 26 Oct 2021 → 27 Oct 2021 |
Publication series
| Name | 2021 International Conference on Robotics and Automation in Industry, ICRAI 2021 |
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Conference
| Conference | 4th International Conference on Robotics and Automation in Industry, ICRAI 2021 |
|---|---|
| Country/Territory | Pakistan |
| City | Rawalpindi |
| Period | 26/10/21 → 27/10/21 |
Bibliographical note
Publisher Copyright:© 2021 IEEE.
Keywords
- Mathematical modeling
- Multi-parameter root locus
- PI controller
- System identification
- Underwater vehicle
ASJC Scopus subject areas
- Artificial Intelligence
- Industrial and Manufacturing Engineering
- Mechanical Engineering
- Control and Optimization