Harmonic Perturbation of Umbilical Cable in Adaptive Controlled Underwater Vehicles

JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE

Sheraton, Buenos Aires, Argentina

Conferencia; XXº Congreso Argentino de Control Automático; 2006

Asociación Argentina de Control Automático

This paper deals with the analysis of quasi-stationary effects of fluid perturbations on adaptively controlled ROVs. The perturbation involves distributed loads along the cable and on the ROV surface, which are caused by tidal flows and waves. So the cable in turn can disturb the navigation and regulation of the vehicle strongly. An algorithm for identification of the cable force is developed, which is based on the modeling of reactive cable forces and impacting drag forces in quasi-stationary state. A comparative study is made between an adaptive approach with a high-performance fixed control. Although the perturbation results relatively small in the fixed control, it needs the identified cable force to null-error performance, while the adaptive control system does not.