Robust adaptive backstepping DP control of ROVs

Autor: Sveinung Johan Ohrem, Herman Biørn Amundsen, Walter Caharija, Christian Holden

Publikováno v: Control Engineering Practice

Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, operating in environments wit

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a7ba6e661b01ad5eedc973b14a76cfc7
https://hdl.handle.net/11250/3041472

ROV Navigation in a Fish Cage with Laser-Camera Triangulation

Autor: Jens T. Thielemann, Walter Caharija, Trine Kirkhus, Magnus Bjerkeng, Esten Ingar Grøtli, Sveinung Johan Ohrem, Herman B. Amundsen

Publikováno v: Journal of Marine Science and Engineering
Journal of Marine Science and Engineering, Vol 9, Iss 79, p 79 (2021)
Volume 9
Issue 1

Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net f

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::11063d5751f51ea66d710d78494afeb3
https://hdl.handle.net/11250/2788124

A Multipurpose Framework for Modelling and Simulation of Marine Aquaculture Systems

Autor: Karl-Johan Reite, Morten Omholt Alver, Biao Su, Karl Gunnar Aarsæther, Joakim Haugen, Andrei Tsarau, Martin Føre, Per Christian Endresen, David Kristiansen, Walter Caharija

Publikováno v: Volume 6: Ocean Space Utilization.

Research within marine aquaculture has either focused on technology (e.g. farming structures, autonomous systems, harvesting and transport technologies) or biology (e.g. biomass control, feeding process, fish behavior and welfare). Here, we present a

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::71aede2489c9e8fcc6f2c2861792f365
https://doi.org/10.1115/omae2019-95414

Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments

Autor: Jan Tommy Gravdahl, Asgeir J. Sørensen, Enrica Zereik, Walter Caharija, Gabriele Bruzzone, Marco Bibuli, José Braga, Kristin Y. Pettersen, Pedro Calado, Milan Milovanovic

Publikováno v: IEEE transactions on control systems technology
24 (2016): 1623–1642. doi:10.1109/TCST.2015.2504838
info:cnr-pdr/source/autori:Caharija, Walter; Pettersen, Kristin Y.; Bibuli, Marco; Calado, Pedro; Zereik, Enrica; Braga, Jose; Gravdahl, Jan Tommy; Sorensen, Asgeir J.; Milovanovic, Milan; Bruzzone, Gabriele/titolo:Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments/doi:10.1109%2FTCST.2015.2504838/rivista:IEEE transactions on control systems technology (Print)/anno:2016/pagina_da:1623/pagina_a:1642/intervallo_pagine:1623–1642/volume:24
IEEE Transactions on Control Systems Technology

This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles, operating on and below the sea surface. It is shown that due to the embedded integral action, th

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::946bf5d628aba3d4f55e2a7136d7d72d
https://doi.org/10.1109/tcst.2015.2504838

Semiglobal exponential stability of a counter-current and co-current guidance scheme

Autor: Kristin Y. Pettersen, Walter Caharija, Esten Ingar Grøtli

Publikováno v: IFAC-Papers

A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential stability is shown for t

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9bdd8bd9ed7748b3042af54509dc073f
http://hdl.handle.net/11250/2582936