Adaptive Platform-Independent Control System for ROV Launch and Recovery

The overall goal of the proposed research effort is the development of APICS - an Adaptive Platform-Independent Control System for launch and recovery of submersible remotely operated vehicles (ROVs). APICS will operate in constant tension mode during launch and recovery and also in active heave compensation mode to maintain constant ROV depth is a seaway. Barron Associates, Inc. and its research partners will leverage the lessons-learned from the recent Active Motion Control System (AMCS) testing and the practical experience and simulation models provided by the research team. In our opinion, an adaptive control approach is required to meet the goals of platform independence with minimal operator intervention and tuning. Adaptive control approaches excel when the dynamic model structure is known, but the model parameters are highly uncertain. The APICS control problem in our formulation meets these criteria. An issue of foremost importance includes establishment of detailed APICS hardware requirements. Building on the existing requirements and design, it is crucial to review the current architecture and ensure that an ideal active feedback control system with perfect system knowledge could meet the specifications for a single ROV and platform combination. The research team will also enhance and validate existing simulation capabilities.