碩士 / 國立臺灣大學 / 造船及海洋工程學研究所 / 89 / The purpose of a navigation and control system for a remotely operated vehicle (ROV) is to provide precise path tracking capability in the water. This thesis continue the design effort of the navigation and control system of an experimental ROV, ROV-HI1, and focuses on system identification issues and trajectory control of a new vehicle, ROV-HI2. We provide a general framework of the system design and control for the ROV-HI2. The controller structure we applied is based on sliding mode controller. The identified thruster characteristic is used to design a non-linear compensator for the motion control. Tank tests and open sea experiments assures that the navigation and control method proposed herein yields satisfactory results.
| Identifer | oai:union.ndltd.org:TW/089NTU00345008 |
| Date | January 2001 |
| Creators | chin ho-lee, 李金河 |
| Contributors | chen hua-kuo, 郭振華 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 82 |
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