TY - GEN
T1 - Control and guidance of a hovering AUV pitching up or down
AU - Ferreira, B.M.
AU - Jouffroy, J.
AU - Matos, A.C.
AU - Cruz, N.A.
PY - 2012
Y1 - 2012
N2 - In this paper, we present an approach to control an autonomous underwater vehicle in the vertical and the horizontal planes while pitching down or up (θ = ±π/2). Such a capability is explored in MARES, a small-sized, torpedo-shaped hovering AUV with four degrees of freedom. Despite the fact that roll angle is not controllable, we find a guidance law that makes the vehicle reach any point in the horizontal plane while maintaining the vehicle in the vertical position.
AB - In this paper, we present an approach to control an autonomous underwater vehicle in the vertical and the horizontal planes while pitching down or up (θ = ±π/2). Such a capability is explored in MARES, a small-sized, torpedo-shaped hovering AUV with four degrees of freedom. Despite the fact that roll angle is not controllable, we find a guidance law that makes the vehicle reach any point in the horizontal plane while maintaining the vehicle in the vertical position.
KW - technology, engineering and IT
KW - Control systems
KW - Nonlinear control
KW - Underwater vehicles
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-84873607300&partnerID=MN8TOARS
U2 - 10.1109/OCEANS.2012.6405081
DO - 10.1109/OCEANS.2012.6405081
M3 - Conference contribution to proceeding
BT - OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
ER -