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Control of the MARES autonomous underwater vehicle

Title
Control of the MARES autonomous underwater vehicle
Type
Article in International Conference Proceedings Book
Year
2009
Authors
Bruno Ferreira
(Author)
FEUP
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Miguel Pinto
(Author)
Other
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Aníbal Matos
(Author)
FEUP
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Conference proceedings International
Pages: 1324-1333
Oceans 2009 Conference
Biloxi, MS, OCT 26-29, 2009
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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-003-RHD
Abstract (EN): This paper focuses the control problem of a nonholonomic autonomous underwater vehicle, moving in the tridimensional space. The dynamic of a body in submarine environments is strongly nonlinear. This implies that classical linear controllers are often inadequate whereby Lyapunov theory is here considered. Methods based in this theory are promising tools to design controllers and are applied to the case of MARES, a small-sized autonomous underwater vehicle. Several controllers based only on Lyapunov theory are determined while others combine linear and nonlinear control theory in order to perform various maneuvers. Aiming to verify the correct performance of controllers, simulations and experiments are carried out.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 10
License type: Click to view license CC BY-NC
Documents
File name Description Size
2009_FerreiraPintoMatosCruzA 788.75 KB
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