A remote-operated vehicle (ROV) developed for investigations of the sea bottom over a wide area can be operated as both a towed and a self-propulsive vehicle. Called DELTA, the shape is similar to that of a delta-wing aircraft. The vehicle has two propellers and weight shift apparatus as actuators. The paper describes the design of the control system for the vehicle. Non-linear motion equations of the towing cable and DELTA are discussed, followed by a description of the LQI control system and robust control based on H∞ control. Depth control performance was improved by the robust controller. Some successful experimental results are shown. (C) 2000 Elsevier Science Ltd. All rights reserved.
All Science Journal Classification (ASJC) codes
- Environmental Engineering
- Ocean Engineering