Modeling of Teleoperator Control Performance in Guidance of ROVs under Strong Perturbations employing Inboard and External Cameras

MARIO A. JORDÁN; JORGE L. BUSTAMANTE; CARLOS E. BERGER

Buenos Aires, Argentina

Simposio; 2010 IEEE/OES South America International Symposium; 2010

Oceanic Engineering Society

In this paper a study of teleoperation of remotely operated vehicles is carried out employing two sources 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 controller for 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.