Control and guidance of a hovering AUV pitching up or down

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

doi:10.1109/OCEANS.2012.6405081

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/rapport › Konferenceartikel i proceeding › peer review

Abstract

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.

Originalsprog	Engelsk
Titel	OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
Publikationsdato	2012
DOI	https://doi.org/10.1109/OCEANS.2012.6405081
Status	Udgivet - 2012
Udgivet eksternt	Ja

Emneord

Teknik, ingeniørvidenskab og IT
Control systems
Nonlinear control
Underwater vehicles

Adgang til dokumentet

10.1109/OCEANS.2012.6405081

Andre filer og links

http://www.scopus.com/inward/record.url?eid=2-s2.0-84873607300&partnerID=MN8TOARS

Citationsformater

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AU - Matos, A.C.

AU - Cruz, N.A.

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KW - technology, engineering and IT

KW - Control systems

KW - Nonlinear control

KW - Underwater vehicles

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