Control and guidance of a hovering AUV pitching up or down

B.M. Ferreira, J. Jouffroy, A.C. Matos, N.A. Cruz

Publikation: Bidrag til bog/antologi/rapportKonferenceartikel i proceedingpeer review


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.
TitelOCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
StatusUdgivet - 2012
Udgivet eksterntJa


  • Teknik, ingeniørvidenskab og IT
  • Control systems
  • Nonlinear control
  • Underwater vehicles