Control of an underwater robot system connected to a ship by aslender marine structure

摘要

This paper describes the dynamics of a system consisting of arobot system connected to a surface vessel by means of a marine cable,riser or other similar slender marine structure. Only motion in thelateral direction has been considered. A control system is presented forposition and velocity control of the robot system. The stability of thecontrol system is analyzed using Lyapunov theory, and the closed loopsystem is shown to be globally asymptotically stable and robust toenvironmental disturbances