IADO   05364
INSTITUTO ARGENTINO DE OCEANOGRAFIA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Modeling of Teleoperator Control Performance in Guidance of ROVs Under Strong Perturbations Employing Inboard and External Cameras
Autor/es:
MARIO A. JORDÁN; JORGE BUSTAMANTE; CARLOS BERGER
Lugar:
Buenos Aires
Reunión:
Simposio; IEEE/OES South America International Symposium; 2010
Institución organizadora:
IEEE
Resumen:
In this paper a study of teleoperation of remotely operated vehicles is carried out employing twosources of video, the inboard image and external camera. Additionally, a modeling of the human behavior during path tracking in 6 degrees of freedom is performed. For this goal a structure of a nested control loop is supposed. The inner loop involves a high-performance digital controller, while the outer loop is composed by the human control. Under the hypothesis that the inner control accomplishes a rapid and effective attenuation of inertial disturbances and kinematics disturbances (like cable tugs and fluid currents) as well as a compensation of nonlinearities, a PID-like controllerfor modeling the human control actions is proposed. This structure is justified by means of experiments designed by simulation of the ROV dynamics and on-line interaction of the teleoperator by means of a joystick. Results are shown in the context of case study.