On Human Control in Teleoperation of Underwater Vehicles in Time and Frequency Domains

MARIO A. JORDÁN; JORGE L. BUSTAMANTE

Buenos Aires

Jornada; VI Jornadas Argentinas de Robótica; 2010

Instituto Tecnológico de Buenos Aires (ITBA)

This paper concerns the modelling of human behavior in teleoperation of remotely operated vehicles employing alternatively inboard and external images. For this goal a structure of a nested control loop is proposed. The inner loop involves a high-performance digital controller, while the outer loop is composed by the human control. For modeling the human actions a PID-like controller is aimed. The identification of the parameters of the PID is carried out in time and frequency domains. Features of these studies are found from experiment setups employing simulations and on-line interaction of the teleoperator by means of a joystick.