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Autonomous underwater inspection robot under disturbances

Publication Type : Conference Paper

Publisher : 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT)

Source : 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), IEEE, Kollam, India (2017)

Url :

ISBN : 9781509049677

Keywords : altitude control, Autonomous underwater inspection robot, autonomous underwater vehicles, control precision improvement, Data acquisition, data acquisition rate, Delay effects, delay systems, Delays, Doppler velocity log navigation system, DVL navigation system, Inspection, Integral Sliding Mode (ISM), integral sliding-mode controller, Mobile robots, oceanographic techniques, Pipeline inspection, position control, Remotely operated vehicles, Robot sensing systems, robust control, Sensors, Surges, TDC, time delay controller, Time Delay Controller (TDC), time-delay estimator (TDE), Underwater vehicles, variable structure systems, Vehicle dynamics

Campus : Amritapuri

School : School of Engineering

Department : Robotics and Automation, Electrical and Electronics

Year : 2017

Abstract : Autonomous underwater inspection robots are getting worldwide interest since they used for various applications like surveying seabed mosaics, shipwreck search, pipeline inspection etc. For performing the above applications, the control of position and altitude of underwater inspection robots are extremely significant as the worth of information obtained is very much reliant in the correctness of position control and tracking of the Autonomous underwater inspection robot. So a Time Delay Controller for the position and altitude control of an underwater inspection robot with disturbances is introduced. A TDC performs its best when the data acquisition rate is rapid. But for the control of underwater inspection robot, which uses a Doppler velocity log navigation system (DVL) as sensor, it can't maintain the data acquisition rate fast since DVL gives data at a poor acquisition rate, results in lessening the performance of TDC. So an integral sliding-mode controller is also provided to the typical TDC to avoid this problem and to improve the control precision even if the DVL navigation system is in operation. The controller proposed here makes computations easier and it reduces the steady state error.

Cite this Research Publication : H. Gopinath, Indu V., and Meher Madhu Dharmana, “Autonomous underwater inspection robot under disturbances”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017

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