Evaluation of Human Control in Teleoperation of Underwater Vehicles – Comparative Study in Time and Frecuency Domains

Buenos Aires

Simposio; 39 JAIIO – Argentinian Symposium of Technology (AST2010); 2010

Sociedad Argentina de Informática

Abstract. In this paper a study of teleoperation of remotely operatedvehicles is carried out employing two sources of video, the inboard imageand external camera. Additionally, a modeling of the human behaviorduring path tracking is performed. For this goal a structure of a nestedcontrol loop is supposed. The inner loop involves a high-performancedigital controller, while the outer loop is composed by the human teleoperation.For modeling the human control actions a PID-like controlleris proposed. The identification of the parameters of the PID is carriedout in both domains, time and frequency. Features of these studies arebased on experiments designed by simulations and on-line interaction ofthe teleoperator by means of a joystick.