Modelling of Teleoperator Dynamics and Control Performance in ROVs under Strong Perturbations

JORDÁN, MARIO ALBERTO; BUSTAMANTE, JORGE L.

Río Gallegos, Argentina

Congreso; XII Reunión de Trabajo en Procesamiento de la Información y Control (XII RPIC); 2007

Universidad Nacional de la Patagonia Austral

In this paper a comparison of two approaches to path tracking of a remotely operated vehicle (ROV) is carried out. An approach to the human teleoperation of underwater vehicles with internal controller was modelled, analyzed and compared with a pure adaptive control approach under unknown and strong perturbations of the cable. The human control system has the structure of a PID controller with a time delay. Through a simulated case study, we were able to establish differences in control performances, and to discern a much more appropriate design of a control-assisted teleoperation.