Abstract
This paper introduces a Proportional, Derivative and
Adaptive (PDA) depth control method for a swimming and
walking robot designed for Floating Production Storage and
Offloading vessel (FPSO) inspections. The depth of the robot is
controlled by adjusting the mass of the buoyancy tank on the top of the robot while keeping the overall robot volume constant, so that the robot weight is adjusted around its neutral buoyancy point. The robot can swim to a given depth in short time without too much overshoot, and maintain that depth even with the disturbance from the thrusters that drive the robot moving horizontally. The control algorithm is adaptive to varying depth to let the robot have similar dynamic performance in any depth in the tank.
| Original language | English |
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| Publication status | Published - 12 Sept 2006 |
| Externally published | Yes |
| Event | 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Duration: 9 Dec 2006 → … |
Conference
| Conference | 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines |
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| Period | 9/12/06 → … |