A Pitch-Depth Bottom Following Controller for AUVs using Eigenstructure Assignment

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Melo, J (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP

Conference proceedings International

Title: IFAC PAPERSONLINE

Pages: 43-48

10th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2015

24 August 2015 through 26 August 2015

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Other information

Authenticus ID: P-00K-3YT

DOI: 10.1016/j.ifacol.2015.10.256

Abstract (EN): This paper addresses the problem of bottom following by the MARES Autonomous Underwater Vehicle, and presents derivation of a controller able to cope with the peculiarities of such problem. In specific, the main requirement for the controller is the existence of no overshoot both in the depth and pitch outputs of the system. The existence of such time-domain requirements motivates the use of Eigenstructure Assignment techniques in the formulation of the controller. Simulation results obtained with a dynamic model of the MARES AUV are presented and discussed, indicating the validity of the proposed approach.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6