Development of a hybrid submarine robot HROV LUMA1000 and experimental tests

Authors

  • Liu Hsu Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Ramon Costa Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Marcel Mendes Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Fernando Lizarralde Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Edison Alfaro Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Eduardo V.L. Nunes Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • José C. Geromel Faculdade de Engenharia Elétrica e de Computação da Universidade Estadual de Campinas
  • Igor Novais Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Thiago M. de Abreu Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Carolina C. S. de Oliveira Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro
  • Pedro de Oliveira Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro

Keywords:

ROV, HROV, Control Systems, Multivariable Super-Twisting Control

Abstract

This paper addresses the design of the HROV (Hybrid ROV) LUMA1000, highlighting its main constructive aspects, and its automatic control system. PID control is conventionally used and is implemented to experimentally test the integrity and functionality of LUMA1000 system. We also present a simulation study of the more advanced controller Multivariable Super Twisting Control (MSTA) which is proposed to handle severe modeling uncertainties and non-structured norm-bounded exogenous disturbances which are to be faced by the HROV. Moreover, an important uncertainty caused by actuator failure is considered in the MSTA design. Its effectiveness is evaluated through numerical simulations showing its fault-tolerant control capability and finite-time convergence under the action of exogenous disturbances modeling uncertainties.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles