On the Identification of the Nonlinear Dynamic Model of an Underwater R.O.V

Autor:	G. Lebret, S. Ziani-cherif
Rok vydání:	1997
Předmět:	Engineering business.industry Process (computing) Submarine Robotics Control engineering General Medicine Nonlinear control Remotely operated underwater vehicle Computer Science::Robotics Nonlinear system Control theory Robot Artificial intelligence Underwater business
Zdroj:	IFAC Proceedings Volumes. 30:651-656
ISSN:	1474-6670
DOI:	10.1016/s1474-6670(17)42919-3
Popis:	For robot manipulators, the dynamic model has showed to be very relevant for control applications. Our aim is to apply an identification technic used for robots, to obtain the model of submarine vehicles. Thus we first present the non linear dynamic model of common ROV and second we address the problem of its parameters estimation. We finally experiment our methodology on a real process: the VORTEX (2) of IFREMER.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::d45d36c41759099277bd8275737ca759 https://doi.org/10.1016/s1474-6670(17)42919-3 Zobrazit plný text záznamu