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Positioning control of an underactuated surface vessel

Title
Positioning control of an underactuated surface vessel
Type
Article in International Conference Proceedings Book
Year
2008
Authors
Conference proceedings International
Pages: 1970-1974
OCEANS 2008 Conference
Quebec City, CANADA, SEP 15-18, 2008
Indexing
Publicação em ISI Proceedings ISI Proceedings
Publicação em ISI Web of Knowledge ISI Web of Knowledge - 0 Citations
INSPEC
Scientific classification
FOS: Engineering and technology > Environmental engineering
Other information
Authenticus ID: P-004-4AA
Abstract (EN): This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 5
License type: Click to view license CC BY-NC
Documents
File name Description Size
2008_MatosCruz 190.56 KB
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