Modeling and control of an autonomous underwater shuttle for the transport of benthic laboratories

• Type: Article in International Conference Proceedings Book
• Date: 1997

Authors

Aguiar, A (Author) Other; Pascoal, A (Author) Other

Conference proceedings International

Title: OCEANS '97 MTS/IEEE CONFERENCE PROCEEDINGS, VOLS 1 AND 2

Pages: 888-895

Oceans 97 MTS/IEEE Conference

HALIFAX, CANADA, OCT 06-09, 1997

Indexing

ISI Web of Knowledge - 7 Citations

Scopus - 31 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-001-CT0

Abstract (EN): This paper describes the design of the control and guidance systems of SIRENE, an autonomous underwater shuttle for the transport and accurate positioning of benthic laboratories on the seabed down a depth of 6000 meters. The paper introduces the nonlinear hydrodynamic model of the vehicle and derives a class of sliding mode control laws for vehicle stabilization and steering in the vertical and horizontal planes. 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8