Control and guidance of a hovering AUV pitching up or down

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

Bruno M Ferreira (Author) Other; Jerome Jouffroy (Author) Other; Anibal C Matos (Author) FEUP; Nuno A Cruz (Author) FEUP

Conference proceedings International

Title: 2012 OCEANS

MTS/IEEE Oceans Conference

Virginia Beach, VA, OCT 14-19, 2012

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 11 Citations

Scientific classification

FOS: Engineering and technology > Other engineering and technologies

Other information

Authenticus ID: P-005-471

DOI: 10.1109/oceans.2012.6405081

Abstract (EN): 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 (theta = +/-pi/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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7