Positioning control of an underactuated surface vessel

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2008

Autores

Aníbal Matos (Autor) FEUP; Nuno Cruz (Autor) FEUP

Ata de Conferência Internacional

Título: OCEANS 2008, VOLS 1-4

Páginas: 1970-1974

OCEANS 2008 Conference

Quebec City, CANADA, SEP 15-18, 2008

Indexação

ISI Proceedings

ISI Web of Knowledge - 0 Citações

Scopus - 6 Citações

INSPEC

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia do ambiente

Outras Informações

ID Authenticus: P-004-4AA

DOI: 10.1109/oceans.2008.5152091

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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 5