On Modeling of Coupled Heave-Yaw Motion of a μ-ROV

Ahsan Tanveer*, Sarvat Mushtaq Ahmad

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This study outlines data-driven modeling approach for identification of coupled heave-yaw motion of a compact micro remotely operated vehicle (μ-ROV). For modeling exercise, real-time tests are carried in a pool setting using on-board gyroscope and depth sensors. The data from the sensors is then pre-processed and analyzed. The experiment employs a straightforward manoeuvre that stimulates the vehicle in the vertical plane. The results indicate that yaw motion is caused by a coupling effect brought on by the reaction torque of the single vertical thruster. This enables the dynamic model to be determined in horizontal plane. A transfer function model structure is used to identify the coupled model, and it is found that the model synthesised using the suggested methodology agrees with the experimental findings.

Original languageEnglish
Title of host publication2023 3rd International Conference on Computing and Information Technology, ICCIT 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages546-549
Number of pages4
ISBN (Electronic)9798350321487
DOIs
StatePublished - 2023
Event3rd International Conference on Computing and Information Technology, ICCIT 2023 - Tabuk, Saudi Arabia
Duration: 13 Sep 202314 Sep 2023

Publication series

Name2023 3rd International Conference on Computing and Information Technology, ICCIT 2023

Conference

Conference3rd International Conference on Computing and Information Technology, ICCIT 2023
Country/TerritorySaudi Arabia
CityTabuk
Period13/09/2314/09/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

  • coupled dynamics
  • dynamic modeling
  • remotely operated vehicles (ROVs)
  • system identification
  • underwater vehicles

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Energy Engineering and Power Technology

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