JORDAN Mario Alberto
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Chaotic Oscillations in Dynamic Positioning of Teleoperated Underwater Vehicles subject to Wave and Current Perturbations
JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE
Conferencia; Jornadas Argentinas de Robótica; 2006
This paper is concerned with the study of nonlinear oscillations in servotracking control systems for the teleoperation of ROVs subject to strong currents and harmonic waves. Particularly, the case of variable cable length during tactics on the sea bottom such as sea bottom scanning and systematic grab sampling are analyzed. The route to chaos from predictable period-one oscillations is studied using the cable length magnitude and rate, the current intensity, and wave amplitude and frequency as main bifurcation parameters.