Control of an AUV in the Vertical and Horizontal Planes: System Design and Tests at Sea

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Status	已發表Published
	Control of an AUV in the Vertical and Horizontal Planes: System Design and Tests at Sea
	Silvestre, C; Pascoal, A
	1996-09-01
Source Publication	Proc. of the Third International Symposium on Methods and Models in Automation and Robotics - MMAR 96
Pages	1-6
Publication Place	Medzyzdroje
Publisher	MMAR
Abstract	The paper describes the design and experimental testing of a control system for an autonomous underwater vehicle (AUV). The first part of the paper introduces the nonlinear dynamic model of a prototype AUV named MARIUS, and formulates a general problem of vehicle control for precise maneuvering in both the vertical and horizontal planes. The methodology adopted for control system design is nonlinear gain scheduled control, whereby a set of finite H-infinity controllers is scheduled on the vehicle's speed. The paper will summarize the basic design steps, and describe a new method for the practical implementation of nonlinear gain-scheduled control systems that avoids some of the pitfalls described in the literature. Finally, experimental results obtained during tests of the vehicle at sea in Sines, Portugal, will be presented and discussed.
Keyword	Autonomous vehicles Gain-scheduled Control H-infinity Control.
Language	英語English
The Source to Article	PB_Publication
PUB ID	46031
Document Type	Conference paper
Collection	DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Recommended Citation GB/T 7714	Silvestre, C,Pascoal, A. Control of an AUV in the Vertical and Horizontal Planes: System Design and Tests at Sea[C], Medzyzdroje:MMAR, 1996, 1-6.
APA	Silvestre, C., & Pascoal, A (1996). Control of an AUV in the Vertical and Horizontal Planes: System Design and Tests at Sea. Proc. of the Third International Symposium on Methods and Models in Automation and Robotics - MMAR 96, 1-6.

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