liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Advanced control of a remotely operated underwater vehicle
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Remotely Operated underwater Vehicles (ROVs) are getting more and more advanced withevery new model. As new functionality is added, the price increases. This thesis is one partof a larger project, where the goal is to develop a low-budget ROV. The ROV should later bemade autonomous and entered into a competition.This thesis have focused on the modeling and stabilizing control of an ROV that was designedby mechanical engineering students at Linköping University. The only sensor used was anInertial Measurement Unit (IMU) and the ROV has a torpedo-like design. The modeling wasdone using identification in Matlab with the grey box and black box methods. Water trialsand simulations show that the model is estimated sufficiently good to be used as the basis ofdifferent model based controllers.Two different control strategies were implemented; a linear quadratic controller (LQ) and amodel predictive controller (MPC). Both controllers worked desirably in simulations. Onlythe LQ controller was evaluated in real world tests. Due to problems with the implementationenvironment chosen for the MPC, the MPC could not be tested.The thesis also uses decision matrices as a mean to motivate the important decisions thathave been made.

Place, publisher, year, edition, pages
2012. , 85 p.
Keyword [en]
ROV MPC Matlab LQ ROS ACADO
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-79364ISRN: LiTH-ISY-EX--12/4599--SEOAI: oai:DiVA.org:liu-79364DiVA: diva2:541150
Subject / course
Automatic Control
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-08-21 Created: 2012-07-14 Last updated: 2012-08-21Bibliographically approved

Open Access in DiVA

Advanced control of a remotely operated underwater vehicle (2012)(7728 kB)2274 downloads
File information
File name FULLTEXT01.pdfFile size 7728 kBChecksum SHA-512
b0f3d8b614525fb8044d20a73a1a66517b0de82bc9facd6cd9a91ebd8651e1e4c04462afda426ea1e50bf8970955ef5637154d7a076b792a6ccd1d0f8774d51e
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Bernhard, JacobJohansson, Patrik
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 2274 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 993 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf