| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 5002039 | IFAC-PapersOnLine | 2016 | 6 Pages |
Abstract
:This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on Hâ theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Benoit Clement, Yang Rui, Ali Mansour, Li Ming,