Kybernetika 58 no. 2, 237-253, 2022

Design of a control architecture for an underwater remotely operated vehicle (ROV) used for search and rescue operations

Ralph Gerard B. Sangalang, Diether Jhay S. Masangcay, Cleo Martin R. Torino and Diane Jelyn C. GutierrezDOI: 10.14736/kyb-2022-2-0237

Abstract:

A control system architecture design for an underwater ROV, primarily Class I - Pure Observation underwater ROV is presented in this paper. A non-linear plant model was designed using SolidWorks 3D modeling tool and is imported to MATLAB as a 3D model. The non-linear modeled plant is linearized using the MATLAB linear analysis toolbox to have a linear approximate model of the system. The authors designed controllers for the linear plant model of underwater ROV. PID controllers are utilized as a controller of the modeled plant. The PID tuning tools by MATLAB are utilized to tune the controller of the plant model of underwater ROV. The researchers test the control design of underwater ROV using MATLAB Simulink by analyzing the response of the system and troubleshoot the control design to achieve the objective parameters for the control design of underwater ROV.

Keywords:

modeling, control, underwater ROV, kinematics

Classification:

93D06

paper.pdf

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