Publication Type:

Conference Paper

Source:

2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), IEEE, Kollam, India (2017)

ISBN:

9781538640210

URL:

https://ieeexplore.ieee.org/document/8397219

Keywords:

altitude control, Autonomous underwater inspection robot, autonomous underwater vehicles, control algorithm, Delay effects, delay systems, disturbances, Inertial Measurement Unit (IMU), Inspection, marine control, mathematical model, Mobile robots, Path Planning, position control, Propellers, Robot sensing systems, Sensors, Stability, Surges, time delay controller, Time Delay Controller (TDC), time-delay estimator (TDE), underwater vehicle stabilization

Abstract:

In the modern world, there are so many applications where Autonomous Underwater Inspection Robots are used. Applications like pipeline inspection, ship and flight wreck search, surveying seabed mosaics, etc. are few examples for that. How to utilize the control algorithm for stabilizing the underwater vehicle, so that they can perfectly execute the above applications is explained in this paper. Here a Time Delay Controller is used for the position and altitude control of an underwater inspection robot with disturbances. An Inertial Measurement Unit is used as the sensor since the controller used here needs the derivative of the system state to be known. 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, “Development of autonomous underwater inspection robot under disturbances”, in 2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), Kollam, India, 2017.