Control of the SIRENE underwater shuttle: system design and tests at sea

• Type: Article in International Conference Proceedings Book
• Date: 1998

Authors

Silvestre, C (Author) Other; Aguiar, A (Author) Other; Oliveira, P (Author) Other; Pascoal, A (Author) Other

Conference proceedings International

Title: Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE

Proceedings of the 1998 17th International Conference on Offshore Mechanics and Arctic Engineering, OMAE

Lisbon, Portugal, 5 July 1998 through 9 July 1998

Indexing

ISI Web of Knowledge

Scopus - 13 Citations

Other information

Authenticus ID: P-007-7V3

Abstract (EN): This paper describes theoretical and practical issues that arose during the development of the control and guidance systems for SIRENE, an autonomous underwater shuttle for the transport and accurate positioning of benthic laboratories in the seabed down to a depth of 4000 meters. The nonlinear hydrodynamic model of the vehicle is described, and a class of sliding mode control laws for vehicle stabilization and steering in the vertical and horizontal planes is derived. The control algorithms are combined with a classical line-of-sight guidance law, and the performance of the resulting system is evaluated in a computer based simulation of a realistic mission scenario. The paper concludes with a description of experimental results obtained during a series of sea tests carried out by the French Agency IFREMER and the Instituto Superior Tecnico (IST) off the coast of Toulon, France.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 1