Projects per year
Abstract / Description of output
For controlling Unmanned Underwater Vehicles (UUVs) in deep water, Proportional-Integral-Derivative (PID) control has previously been proposed. Disturbances due to waves are minimal at high depths, so PID provides an acceptable level of control for performing tasks such as station-keeping. In shallow water, disturbances from waves are considerably larger and thus station-keeping performance naturally degrades. The time delay in the response of the thrusters to the control input is critical to the accuracy of station keeping; here, a numerical assessment is detailed on the accuracy in station keeping of a commercial Remotely Operated Vehicle (ROV) when subjected to various wave disturbances while operating at various depths. The results display a maximum positional error increase of 69% compared to an ideal case where the thrust output is instantaneous, when operating at a 15m depth and subject to an irregular sea state of significant height 5.404m. Our analysis provides a narrow range of operational conditions within which it is deemed safe to use PID for station keeping in waves. This provides evidence that in order to employ UUVs outside of the deep water scenario, better predictive-based control is essential.
Original language | English |
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Title of host publication | 2020 Global Oceans 2020 |
Subtitle of host publication | Singapore - U.S. Gulf Coast |
Publisher | Institute of Electrical and Electronics Engineers |
ISBN (Electronic) | 9781728154466 |
DOIs | |
Publication status | E-pub ahead of print - 9 Apr 2021 |
Event | 2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020 - Biloxi, United States Duration: 5 Oct 2020 → 30 Oct 2020 |
Publication series
Name | 2020 Global Oceans 2020: Singapore - U.S. Gulf Coast |
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Conference
Conference | 2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020 |
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Country/Territory | United States |
City | Biloxi |
Period | 5/10/20 → 30/10/20 |
Keywords / Materials (for Non-textual outputs)
- PID
- ROV
- shallow water
- station keeping
- thruster dynamics
- underwater robotics
- remotely operated vehicles
- Robotics
Fingerprint
Dive into the research topics of 'Impact of Thruster Dynamics on the Feasibility of ROV Station Keeping in Waves'. Together they form a unique fingerprint.Projects
- 1 Finished
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UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management
Stokes, A., Ingram, D. & Kiprakis, A.
1/10/17 → 31/03/22
Project: Research
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Influence of tidal turbine control on performance and loads
Nambiar, A., Draycott, S., Payne, G., Sellar, B. & Kiprakis, A. E., Sept 2021, In: Applied Ocean Research. 114, 102806.Research output: Contribution to journal › Article › peer-review
Open AccessFile -
A nonlinear model predictive controller for remotely operated underwater vehicles with disturbance rejection
Cao, Y., Li, B., Li, Q., Stokes, A., Ingram, D. & Kiprakis, A., 31 Aug 2020, In: IEEE Access. 8, p. 158622-158634 13 p.Research output: Contribution to journal › Article › peer-review
Open AccessFile -
Investigating PID Control for Station Keeping ROVs
Walker, K., Stokes, A., Kiprakis, A. & Giorgio-Serchi, F., 17 Apr 2020. 2 p.Research output: Contribution to conference › Paper › peer-review
Open AccessFile