Control of the MARES autonomous underwater vehicle

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2009

Autores

Bruno Ferreira (Autor) FEUP; Miguel Pinto (Autor) Outra; Aníbal Matos (Autor) FEUP; Nuno Cruz (Autor) FEUP

Ata de Conferência Internacional

Título: OCEANS 2009, VOLS 1-3

Páginas: 1324-1333

Oceans 2009 Conference

Biloxi, MS, OCT 26-29, 2009

Indexação

ISI Proceedings

ISI Web of Knowledge - 0 Citações

Scopus - 8 Citações

INSPEC

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia do ambiente

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 10