Sökning: "Adam Aili"

Hittade 1 uppsats innehållade orden Adam Aili.

  1. 1. Model-Based Design, Development and Control of an Underwater Vehicle

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Adam Aili; Erik Ekelund; [2016]
    Nyckelord :Model; Design; Development; Control; Underwater; Underwater vehicle; BlueROV; ROV; Fossen; Modelling; Parameter Estimation; Prediction-error method; Extended Kalman filter; EKF; Feedback linearisation; Attitude controller; Angular velocity controller;

    Sammanfattning : With the rising popularity of ROVs and other UV solutions, more robust and high performance controllers have become a necessity. A model of the ROV or UV can be a valuable tool during control synthesis. The main objective of this thesis was to use a model in design and development of controllers for an ROV. LÄS MER